Hi, im triying to do a new kinematic but i dont know if its posible add a new stepper. This is my new kinematic “polear.py”:
class CorePolearKinematics:
def __init__(self, toolhead, config):
# Setup axis rails
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
stepper.PrinterRail(config.getsection('stepper_y')),
stepper.LookupMultiRail(config.getsection('stepper_z')), ]
self.rails[0].get_endstops()[0][0].add_stepper(
self.rails[1].get_steppers()[0])
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[0].get_steppers()[0])
self.rails[0].setup_itersolve('polear_stepper_alloc', b'+')
self.rails[1].setup_itersolve('polear_stepper_alloc', b'-')
self.rails[2].setup_itersolve('cartesian_stepper_alloc', b'z')
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat(
'max_z_accel', max_accel, above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
ranges = [r.get_range() for r in self.rails]
self.axes_min = toolhead.Coord(*[r[0] for r in ranges], e=0.)
self.axes_max = toolhead.Coord(*[r[1] for r in ranges], e=0.)
def get_steppers(self):
return [s for rail in self.rails for s in rail.get_steppers()]
def calc_position(self, stepper_positions):
pos = [stepper_positions[rail.get_name()] for rail in self.rails]
return [0.5 * (pos[0] + pos[1]), 0.5 * (pos[0] - pos[1]), pos[2]]
def set_position(self, newpos, homing_axes):
for i, rail in enumerate(self.rails):
rail.set_position(newpos)
if i in homing_axes:
self.limits[i] = rail.get_range()
def note_z_not_homed(self):
# Helper for Safe Z Home
self.limits[2] = (1.0, -1.0)
def home(self, homing_state):
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
rail = self.rails[axis]
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def _motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise move.move_error("Must home axis first")
raise move.move_error()
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
return {
'homed_axes': "".join(axes),
'axis_minimum': self.axes_min,
'axis_maximum': self.axes_max,
}
def load_kinematics(toolhead, config):
return CorePolearKinematics(toolhead, config)
I want add a new stepper like “stepper_a” for example but i couldnt do it. I try a lot of things but with no success. I can add “stepper_z1” and more in the config but i dont need these, i need a new stepper.
Thanks in advance