def _move_circular(self, delta, radius, velocity, direction):
delta = delta.round_to_nearest_pulse()
self.__check_delta(delta)
# get delta vector and put it on circle
if self._plane == PLANE_XY:
self.__check_circle(delta.x, delta.y, radius.x, radius.y,
direction, self._position.x,
self._position.y, TABLE_SIZE_X_MM,
TABLE_SIZE_Y_MM, STEPPER_PULSES_PER_MM_X,
STEPPER_PULSES_PER_MM_Y)
elif self._plane == PLANE_YZ:
self.__check_circle(delta.y, delta.z, radius.y, radius.z,
direction, self._position.y,
self._position.z, TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM, STEPPER_PULSES_PER_MM_Y,
STEPPER_PULSES_PER_MM_Z)
elif self._plane == PLANE_ZX:
self.__check_circle(delta.z, delta.x, radius.z, radius.x,
direction, self._position.z,
self._position.x, TABLE_SIZE_Z_MM,
TABLE_SIZE_X_MM, STEPPER_PULSES_PER_MM_Z,
STEPPER_PULSES_PER_MM_X)
radius = radius.round_to_nearest_pulse()
logging.info("Moving circularly {} {} {} with radius {}"
" and velocity {}".format(self._plane, delta,
direction, radius, velocity))
gen = PulseGeneratorCircular(delta, radius, self._plane,
direction, velocity)
self.__check_velocity(gen.max_velocity())
# do movements
extruder_speed = self._get_extruder_speed(delta, velocity)
self._start_extruder_move(delta.e, extruder_speed)
hal.move(gen)
# save position
self._position = self._position + delta
def _move_circular(self, delta, radius, velocity, direction):
delta = delta.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E,
1.0 / STEPPER_PULSES_PER_MM_P)
radius = radius.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E,
1.0 / STEPPER_PULSES_PER_MM_P)
self.__check_delta(delta)
# get delta vector and put it on circle
circle_end = Coordinates(0, 0, 0, 0, 0)
if self._plane == PLANE_XY:
circle_end.x, circle_end.y = \
self.__adjust_circle(delta.x, delta.y, radius.x, radius.y,
direction, self._position.x,
self._position.y, TABLE_SIZE_X_MM,
TABLE_SIZE_Y_MM)
circle_end.z = delta.z
elif self._plane == PLANE_YZ:
circle_end.y, circle_end.z = \
self.__adjust_circle(delta.y, delta.z, radius.y, radius.z,
direction, self._position.y,
self._position.z, TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM)
circle_end.x = delta.x
elif self._plane == PLANE_ZX:
circle_end.z, circle_end.x = \
self.__adjust_circle(delta.z, delta.x, radius.z, radius.x,
direction, self._position.z,
self._position.x, TABLE_SIZE_Z_MM,
TABLE_SIZE_X_MM)
circle_end.y = delta.y
circle_end.e = delta.e
circle_end = circle_end.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z)
logging.info("Moving circularly {} {} {} with radius {}"
" and velocity {}".format(self._plane, circle_end,
direction, radius, velocity))
gen = PulseGeneratorCircular(circle_end, radius, self._plane,
direction, velocity)
self.__check_velocity(gen.max_velocity())
# if finish coords is not on circle, move some distance linearly
linear_delta = delta - circle_end
linear_gen = None
if not linear_delta.is_zero():
logging.info(
"Moving additionally {} to finish circle command".format(
linear_delta))
linear_gen = PulseGeneratorLinear(linear_delta, velocity)
self.__check_velocity(linear_gen.max_velocity())
# do movements
hal.move(gen)
if linear_gen is not None:
hal.move(linear_gen)
# save position
self._position = self._position + circle_end + linear_delta
def _move_linear(self, delta, velocity):
delta = delta.round(1.0 / STEPPER_PULSES_PER_MM_X,
1.0 / STEPPER_PULSES_PER_MM_Y,
1.0 / STEPPER_PULSES_PER_MM_Z,
1.0 / STEPPER_PULSES_PER_MM_E)
if delta.is_zero():
return
self.__check_delta(delta)
logging.info("Moving linearly {}".format(delta))
gen = PulseGeneratorLinear(delta, velocity)
self.__check_velocity(gen.max_velocity())
hal.move(gen)
# save position
self._position = self._position + delta
def _move_linear(self, delta, velocity):
delta = delta.round_to_nearest_pulse()
if delta.is_zero():
return
self.__check_delta(delta)
logging.info("Moving linearly {}".format(delta))
gen = PulseGeneratorLinear(delta, velocity)
self.__check_velocity(gen.max_velocity())
extruder_speed = self._get_extruder_speed(delta, velocity)
self._start_extruder_move(delta.e, extruder_speed)
hal.move(gen)
# save position
self._position = self._position + delta
