def __init_path_planner(self):
self.native_planner = PathPlannerNative()
self.native_planner.initPRU(self.pru_firmware.get_firmware(0),
self.pru_firmware.get_firmware(1))
self.native_planner.setPrintAcceleration(
tuple([float(self.printer.acceleration[i]) for i in range(3)]))
self.native_planner.setTravelAcceleration(
tuple([float(self.printer.acceleration[i]) for i in range(3)]))
self.native_planner.setAxisStepsPerMeter(
tuple([long(Path.steps_pr_meter[i]) for i in range(3)]))
self.native_planner.setMaxFeedrates(
tuple([float(Path.max_speeds[i]) for i in range(3)]))
self.native_planner.setMaxJerk(self.printer.maxJerkXY / 1000.0,
self.printer.maxJerkZ / 1000.0)
#Setup the extruders
for i in range(Path.NUM_AXES - 3):
e = self.native_planner.getExtruder(i)
e.setMaxFeedrate(Path.max_speeds[i + 3])
e.setPrintAcceleration(self.printer.acceleration[i + 3])
e.setTravelAcceleration(self.printer.acceleration[i + 3])
e.setMaxStartFeedrate(self.printer.maxJerkEH / 1000)
e.setAxisStepsPerMeter(long(Path.steps_pr_meter[i + 3]))
self.native_planner.setExtruder(0)
self.native_planner.runThread()
def __init_path_planner(self):
self.native_planner = PathPlannerNative(
int(self.printer.move_cache_size))
fw0 = self.pru_firmware.get_firmware(0)
fw1 = self.pru_firmware.get_firmware(1)
if fw0 is None or fw1 is None:
return
self.native_planner.initPRU(fw0, fw1)
self.native_planner.setAxisStepsPerMeter(
tuple(self.printer.steps_pr_meter))
self.native_planner.setMaxSpeeds(tuple(self.printer.max_speeds))
self.native_planner.setMinSpeeds(tuple(self.printer.min_speeds))
self.native_planner.setAcceleration(tuple(self.printer.acceleration))
self.native_planner.setJerks(tuple(self.printer.jerks))
self.native_planner.setPrintMoveBufferWait(
int(self.printer.print_move_buffer_wait))
self.native_planner.setMinBufferedMoveTime(
int(self.printer.min_buffered_move_time))
self.native_planner.setMaxBufferedMoveTime(
int(self.printer.max_buffered_move_time))
self.native_planner.setSoftEndstopsMin(tuple(self.printer.soft_min))
self.native_planner.setSoftEndstopsMax(tuple(self.printer.soft_max))
self.native_planner.setBedCompensationMatrix(
tuple(np.identity(3).ravel()))
self.native_planner.setMaxPathLength(self.printer.max_length)
self.native_planner.setAxisConfig(self.printer.axis_config)
self.native_planner.delta_bot.setMainDimensions(
Delta.Hez, Delta.L, Delta.r)
self.native_planner.delta_bot.setEffectorOffset(
Delta.Ae, Delta.Be, Delta.Ce)
self.native_planner.delta_bot.setRadialError(Delta.A_radial,
Delta.B_radial,
Delta.C_radial)
self.native_planner.delta_bot.setTangentError(Delta.A_tangential,
Delta.B_tangential,
Delta.C_tangential)
self.native_planner.delta_bot.recalculate()
self.configure_slaves()
self.native_planner.setBacklashCompensation(
tuple(self.printer.backlash_compensation))
self.native_planner.setState(self.prev.end_pos)
self.printer.plugins.path_planner_initialized(self)
self.native_planner.runThread()
def __init_path_planner(self):
self.native_planner = PathPlannerNative(
int(self.printer.move_cache_size))
fw0 = self.pru_firmware.get_firmware(0)
fw1 = self.pru_firmware.get_firmware(1)
if fw0 is None or fw1 is None:
return
self.native_planner.initPRU(fw0, fw1)
self.native_planner.setPrintAcceleration(
tuple([float(self.printer.acceleration[i]) for i in range(3)]))
self.native_planner.setTravelAcceleration(
tuple([float(self.printer.acceleration[i]) for i in range(3)]))
self.native_planner.setAxisStepsPerMeter(
tuple([long(Path.steps_pr_meter[i]) for i in range(3)]))
self.native_planner.setMaxFeedrates(
tuple([float(Path.max_speeds[i]) for i in range(3)]))
self.native_planner.setMaxJerk(self.printer.maxJerkXY / 1000.0,
self.printer.maxJerkZ / 1000.0)
self.native_planner.setPrintMoveBufferWait(
int(self.printer.print_move_buffer_wait))
self.native_planner.setMinBufferedMoveTime(
int(self.printer.min_buffered_move_time))
self.native_planner.setMaxBufferedMoveTime(
int(self.printer.max_buffered_move_time))
#Setup the extruders
for i in range(Path.NUM_AXES - 3):
e = self.native_planner.getExtruder(i)
e.setMaxFeedrate(Path.max_speeds[i + 3])
e.setPrintAcceleration(self.printer.acceleration[i + 3])
e.setTravelAcceleration(self.printer.acceleration[i + 3])
e.setMaxStartFeedrate(self.printer.maxJerkEH / 1000)
e.setAxisStepsPerMeter(long(Path.steps_pr_meter[i + 3]))
e.setDirectionInverted(False)
self.native_planner.setExtruder(0)
self.native_planner.setDriveSystem(Path.axis_config)
logging.info("Setting drive system to " + str(Path.axis_config))
self.printer.plugins.path_planner_initialized(self)
self.native_planner.runThread()
def __init_path_planner(self):
self.native_planner = PathPlannerNative(int(self.printer.move_cache_size))
fw0 = self.pru_firmware.get_firmware(0)
fw1 = self.pru_firmware.get_firmware(1)
if fw0 is None or fw1 is None:
return
self.native_planner.initPRU(fw0, fw1)
self.native_planner.setAcceleration(tuple(Path.acceleration))
self.native_planner.setAxisStepsPerMeter(tuple(Path.steps_pr_meter))
self.native_planner.setMaxSpeeds(tuple(Path.max_speeds))
self.native_planner.setMinSpeeds(tuple(Path.min_speeds))
self.native_planner.setJerks(tuple(Path.jerks))
self.native_planner.setPrintMoveBufferWait(int(self.printer.print_move_buffer_wait))
self.native_planner.setMinBufferedMoveTime(int(self.printer.min_buffered_move_time))
self.native_planner.setMaxBufferedMoveTime(int(self.printer.max_buffered_move_time))
self.printer.plugins.path_planner_initialized(self)
self.native_planner.runThread()
