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kinematics: Calculate axis_minimum/axis_maximum in advance

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Calculate the get_status() axis_minimum and axis_maximum fields in
advance so that they don't need to be calculated on each get_status()
call.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-01-08 11:52:28 -05:00
parent f79187d726
commit c8434ec54b
9 changed files with 71 additions and 77 deletions
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14
klippy/kinematics/rotary_delta.py
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@@ -1,10 +1,10 @@
# Code for handling the kinematics of rotary delta robots
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2019-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper, mathutil, chelper, homing
import stepper, mathutil, chelper
class RotaryDeltaKinematics:
def __init__(self, toolhead, config):
@@ -76,6 +76,9 @@ class RotaryDeltaKinematics:
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)"
% (self.max_z, self.limit_z))
max_xy = math.sqrt(self.max_xy2)
self.axes_min = toolhead.Coord(-max_xy, -max_xy, self.min_z, 0.)
self.axes_max = toolhead.Coord(max_xy, max_xy, self.max_z, 0.)
self.set_position([0., 0., 0.], ())
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
@@ -122,13 +125,10 @@ class RotaryDeltaKinematics:
limit_xy2 = -1.
self.limit_xy2 = limit_xy2
def get_status(self, eventtime):
max_xy = math.sqrt(self.max_xy2)
axes_min = [-max_xy, -max_xy, self.min_z, 0.]
axes_max = [max_xy, max_xy, self.max_z, 0.]
return {
'homed_axes': '' if self.need_home else 'XYZ',
'axis_minimum': homing.Coord(*axes_min),
'axis_maximum': homing.Coord(*axes_max)
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def get_calibration(self):
return self.calibration