public KinematicPolar(ToolHead toolhead, ConfigWrapper config)
{
// Setup axis steppers
var stepper_bed = new PrinterStepper(config.getsection("stepper_bed"));
var rail_arm = new PrinterRail(config.getsection("stepper_arm"));
var rail_z = PrinterRail.LookupMultiRail(config.getsection("stepper_z"));
stepper_bed.setup_itersolve(KinematicType.polar, new object[] { "a" });
rail_arm.setup_itersolve(KinematicType.polar, "r");
rail_z.setup_itersolve(KinematicType.cartesian, "z");
this.rails = new PrinterRail[] {
rail_arm,
rail_z
};
this.steppers.Add(stepper_bed);
this.steppers.AddRange(rail_arm.get_steppers());
this.steppers.AddRange(rail_z.get_steppers());
// Setup boundary checks
var _tup_1 = toolhead.get_max_velocity();
var max_velocity = _tup_1.Item1;
var max_accel = _tup_1.Item2;
this.max_z_velocity = config.getfloat("max_z_velocity", max_velocity, above: 0.0, maxval: max_velocity);
this.max_z_accel = config.getfloat("max_z_accel", max_accel, above: 0.0, maxval: max_accel);
this.need_motor_enable = true;
this.limit_z = new Vector2d(1, -1);
this.limit_xy2 = -1.0;
// Setup stepper max halt velocity
var max_halt_velocity = toolhead.get_max_axis_halt();
stepper_bed.set_max_jerk(max_halt_velocity, max_accel);
rail_arm.set_max_jerk(max_halt_velocity, max_accel);
rail_z.set_max_jerk(max_halt_velocity, max_accel);
}
public KinematicCoreXY(ToolHead toolhead, ConfigWrapper config)
{
// Setup axis rails
this.rails = new PrinterRail[] {
new PrinterRail(config.getsection("stepper_x")),
new PrinterRail(config.getsection("stepper_y")),
PrinterRail.LookupMultiRail(config.getsection("stepper_z"))
};
this.rails[0].add_to_endstop(this.rails[1].get_endstops()[0].endstop);
this.rails[1].add_to_endstop(this.rails[0].get_endstops()[0].endstop);
this.rails[0].setup_itersolve(KinematicType.corexy, "+");
this.rails[1].setup_itersolve(KinematicType.corexy, "-");
this.rails[2].setup_itersolve(KinematicType.cartesian, "z");
// Setup boundary checks
var _tup_1 = toolhead.get_max_velocity();
var max_velocity = _tup_1.Item1;
var max_accel = _tup_1.Item2;
this.max_z_velocity = config.getfloat("max_z_velocity", max_velocity, above: 0.0, maxval: max_velocity);
this.max_z_accel = config.getfloat("max_z_accel", max_accel, above: 0.0, maxval: max_accel);
this.need_motor_enable = true;
this.limits = new Vector2d[] { new Vector2d(1, -1), new Vector2d(1, -1), new Vector2d(1, -1) };
// Setup stepper max halt velocity
var max_halt_velocity = toolhead.get_max_axis_halt();
var max_xy_halt_velocity = max_halt_velocity * Math.Sqrt(2.0);
this.rails[0].set_max_jerk(max_xy_halt_velocity, max_accel);
this.rails[1].set_max_jerk(max_xy_halt_velocity, max_accel);
this.rails[2].set_max_jerk(Math.Min(max_halt_velocity, this.max_z_velocity), this.max_z_accel);
}
public KinematicCartesian(ToolHead toolhead, ConfigWrapper config)
{
this.printer = config.get_printer();
// Setup axis rails
rails = new PrinterRail[3];
rails[0] = PrinterRail.LookupMultiRail(config.getsection("stepper_x"));
rails[0].setup_itersolve(KinematicType.cartesian, "x");
rails[1] = PrinterRail.LookupMultiRail(config.getsection("stepper_y"));
rails[1].setup_itersolve(KinematicType.cartesian, "y");
rails[2] = PrinterRail.LookupMultiRail(config.getsection("stepper_z"));
rails[2].setup_itersolve(KinematicType.cartesian, "z");
// Setup boundary checks
var _tup_2 = toolhead.get_max_velocity();
var max_velocity = _tup_2.Item1;
var max_accel = _tup_2.Item2;
this.max_z_velocity = config.getfloat("max_z_velocity", max_velocity, above: 0.0, maxval: max_velocity);
this.max_z_accel = config.getfloat("max_z_accel", max_accel, above: 0.0, maxval: max_accel);
this.need_motor_enable = true;
// Setup stepper max halt velocity
var max_halt_velocity = toolhead.get_max_axis_halt();
this.rails[0].set_max_jerk(max_halt_velocity, max_accel);
this.rails[1].set_max_jerk(max_halt_velocity, max_accel);
this.rails[2].set_max_jerk(Math.Min(max_halt_velocity, this.max_z_velocity), max_accel);
// Check for dual carriage support
this.dual_carriage_axis = -1;
this.dual_carriage_rails = new List <PrinterRail>();
if (config.has_section("dual_carriage"))
{
var dc_config = config.getsection("dual_carriage");
var dc_axis = dc_config.getchoice("axis", new Dictionary <string, string> {
{ "x", "x" }, { "y", "y" }
});
this.dual_carriage_axis = dc_axis == "x" ? 0 : 1;
var dc_rail = PrinterRail.LookupMultiRail(dc_config);
dc_rail.setup_itersolve(KinematicType.cartesian, dc_axis);
dc_rail.set_max_jerk(max_halt_velocity, max_accel);
this.dual_carriage_rails.Add(this.rails[this.dual_carriage_axis]);
this.dual_carriage_rails.Add(dc_rail);
this.printer.lookup_object <GCodeParser>("gcode")
.register_command("SET_DUAL_CARRIAGE", cmd_SET_DUAL_CARRIAGE, desc: cmd_SET_DUAL_CARRIAGE_help);
}
}
void _home_axis(Homing homing_state, int axis, PrinterRail rail)
{
// Determine movement
var _tup_1 = rail.get_range();
var position_min = _tup_1.X;
var position_max = _tup_1.Y;
var hi = rail.get_homing_info();
var homepos = new List <double?> {
null, null, null, null
};
homepos[axis] = hi.position_endstop;
if (axis == 0)
{
homepos[1] = 0.0;
}
var forcepos = homepos.ToList();
if (hi.positive_dir ?? false)
{
forcepos[axis] -= hi.position_endstop - position_min;
}
else
{
forcepos[axis] += position_max - hi.position_endstop;
}
// Perform homing
double?limit_speed = null;
if (axis == 2)
{
limit_speed = this.max_z_velocity;
}
homing_state.home_rails(new List <PrinterRail> {
rail
},
(forcepos[0], forcepos[1], forcepos[2], forcepos[3]),
(homepos[0], homepos[1], homepos[2], homepos[3]),
limit_speed);
}
