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 IdleTimeout(ConfigWrapper config)
{
this.printer = config.get_printer();
this.reactor = this.printer.get_reactor();
this.gcode = this.printer.lookup_object <GCodeParser>("gcode");
this.toolhead = null;
this.printer.register_event_handler("klippy:ready", handle_ready);
this.state = "Idle";
this.idle_timeout = config.getfloat("timeout", 600.0, above: 0.0);
this.idle_gcode = config.get("gcode", DEFAULT_IDLE_GCODE).Split("\n");
}
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);
}
}
public static KinematicBase load_kinematics(KinematicType type, ToolHead toolhead, ConfigWrapper config)
{
switch (type)
{
case KinematicType.none: break;
case KinematicType.cartesian: return(new KinematicCartesian(toolhead, config));
case KinematicType.corexy: break;
case KinematicType.delta: break;
case KinematicType.extruder: break;
case KinematicType.polar: break;
case KinematicType.winch: break;
}
throw new NotImplementedException();
}
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);
}
public void SetUp()
{
toolHead = new ToolHead(HeadType.Crease);
}
public void handle_ready()
{
this.toolhead = this.printer.lookup_object <ToolHead>("toolhead");
this.timeout_timer = this.reactor.register_timer(this.timeout_handler);
this.printer.register_event_handler("toolhead:sync_print_time", (Delegate)(Action <double, double, double>) this.handle_sync_print_time);
}
