def __init__(self, toolhead, printer, config):
stepper_configs = [config.getsection('stepper_' + n)
for n in ['a', 'b', 'c']]
stepper_a = stepper.PrinterHomingStepper(printer, stepper_configs[0])
stepper_b = stepper.PrinterHomingStepper(
printer, stepper_configs[1],
default_position=stepper_a.position_endstop)
stepper_c = stepper.PrinterHomingStepper(
printer, stepper_configs[2],
default_position=stepper_a.position_endstop)
self.steppers = [stepper_a, stepper_b, stepper_c]
self.need_motor_enable = self.need_home = True
self.radius = radius = config.getfloat('delta_radius', above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
self.arm_lengths = arm_lengths = [
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.endstops = [s.position_endstop + math.sqrt(arm2 - radius**2)
for s, arm2 in zip(self.steppers, self.arm2)]
self.limit_xy2 = -1.
self.max_z = min([s.position_endstop for s in self.steppers])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.endstops, arm_lengths)])
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
self.angles = [sconfig.getfloat('angle', angle)
for sconfig, angle in zip(stepper_configs,
[210., 330., 90.])]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in self.angles]
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
min_arm_length = min(arm_lengths)
def ratio_to_dist(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
- half_min_step_dist**2)
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, min_arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info(
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.], ())
def __init__(self, toolhead, printer, config):
self.steppers = [
stepper.PrinterHomingStepper(printer,
config.getsection('stepper_x')),
stepper.PrinterHomingStepper(printer,
config.getsection('stepper_y')),
stepper.LookupMultiHomingStepper(printer,
config.getsection('stepper_z'))
]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity',
max_velocity,
above=0.,
maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel',
max_accel,
above=0.,
maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def __init__(self, toolhead, printer, config):
self.steppers = [
stepper.PrinterHomingStepper(printer,
config.getsection('stepper_' + n), n)
for n in ['a', 'b', 'c']
]
self.need_motor_enable = self.need_home = True
radius = config.getfloat('delta_radius', above=0.)
arm_length = config.getfloat('delta_arm_length', above=radius)
self.arm_length2 = arm_length**2
self.limit_xy2 = -1.
tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
self.max_z = min([s.position_endstop for s in self.steppers])
self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" %
(self.max_z, self.limit_z))
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity',
self.max_velocity,
above=0.,
maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt()
for s in self.steppers:
s.set_max_jerk(max_halt_velocity, self.max_accel)
# Determine tower locations in cartesian space
angles = [
config.getsection('stepper_a').getfloat('angle', 210.),
config.getsection('stepper_b').getfloat('angle', 330.),
config.getsection('stepper_c').getfloat('angle', 90.)
]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in angles]
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
def ratio_to_dist(ratio):
return (
ratio * math.sqrt(self.arm_length2 /
(ratio**2 + 1.) - half_min_step_dist**2) +
half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info(
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(
self.slow_xy2), math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def __init__(self, toolhead, printer, config):
self.steppers = [
stepper.PrinterHomingStepper(printer,
config.getsection('stepper_x')),
stepper.PrinterHomingStepper(printer,
config.getsection('stepper_y')),
stepper.LookupMultiHomingStepper(printer,
config.getsection('stepper_z'))
]
self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity',
max_velocity,
above=0.,
maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel',
max_accel,
above=0.,
maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.move_fill = ffi_lib.move_fill
self.steppers[0].setup_itersolve(
ffi_main.gc(ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free))
self.steppers[1].setup_itersolve(
ffi_main.gc(ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free))
self.steppers[2].setup_cartesian_itersolve('z')
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
def __init__(self, toolhead, printer, config):
self.steppers = [stepper.PrinterHomingStepper(
printer, config.getsection('stepper_' + n), n)
for n in ['x', 'y', 'z']]
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3
# Setup stepper max halt velocity
max_halt_velocity = toolhead.get_max_axis_halt()
self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(
min(max_halt_velocity, self.max_z_velocity), max_accel)