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 KinematicWinch(ToolHead toolhead, ConfigWrapper config)
{
// Setup steppers at each anchor
this.steppers = new List <PrinterStepper>();
this.anchors = new List <Vector3d>();
for (int i = 0; i < 26; i++)
{
var name = "stepper_" + (char)('a' + i);
if (i >= 3 && !config.has_section(name))
{
break;
}
var stepper_config = config.getsection(name);
var s = new PrinterStepper(stepper_config);
this.steppers.Add(s);
var anchor = new Vector3d(
stepper_config.getfloat("anchor_x"),
stepper_config.getfloat("anchor_y"),
stepper_config.getfloat("anchor_z"));
this.anchors.Add(anchor);
s.setup_itersolve(KinematicType.winch, new object[] { anchor.X, anchor.Y, anchor.Z });
}
// Setup stepper max halt velocity
var _tup_1 = toolhead.get_max_velocity();
var max_velocity = _tup_1.Item1;
var max_accel = _tup_1.Item2;
var max_halt_velocity = toolhead.get_max_axis_halt();
foreach (var s in this.steppers)
{
s.set_max_jerk(max_halt_velocity, max_accel);
}
// Setup boundary checks
this.need_motor_enable = true;
this.set_position(Vector3d.Zero, null);
}
