move

package
v2.1.2 Latest Latest
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 Go to latest Published: Apr 28, 2020 License: LGPL-3.0 Imports: 3 Imported by: 0

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Index

Constants

View Source 
const (
	// DefaultAnchorDz for HangprinterKinematics
	DefaultAnchorDz = 3000.0
	// DefaultHangprinterPrintRadius is the default radius for hangprinter
	DefaultHangprinterPrintRadius = 1500.0
)
View Source 
const (
	// Cartesian kinematics
	Cartesian KinematicsName = "cartesian"
	// CoreXY kinematics
	CoreXY = "coreXY"
	// CoreXYU is a CoreXY kinematics with extra U axis
	CoreXYU = "coreXYU"
	// CoreXYUV is a CoreXY kinematics with extra UV axes
	CoreXYUV = "coreXYUV"
	// CoreXZ kinmatics
	CoreXZ = "coreXZ"
	// MarkForged kinematics
	MarkForged = "markForged"
	// FiveBarScara kinematics
	FiveBarScara = "FiveBarScara"
	// Hangprinter kinematics
	Hangprinter = "Hangprinter"
	// Delta kinematics
	Delta = "delta"
	// Polar kinematics
	Polar = "Polar"
	// RotaryDelta kinematics
	RotaryDelta = "Rotary delta"
	// Scara kinematics
	Scara = "Scara"
	// Unknown kinematics
	Unknown = "unknown"
)
View Source 
const (
	DefaultJerk           = 15.0
	DefaultMaxTravel      = 200.0
	DefaultStepsPerMmAxis = 80.0
)

Default values for Axis

View Source 
const (
	DefaultMaxExtruderSpeed   = 100.0
	DefaultStepsPerMmExtruder = 420.0
)

Default values for Extruder

View Source 
const (
	DefaultMinimumAcceleration = 10.0
)

Default values for DAA

Variables

This section is empty.

Functions

func DefaultAnchorA 

func DefaultAnchorA() []float64

DefaultAnchorA for HangprinterKinematics

func DefaultAnchorB 

func DefaultAnchorB() []float64

DefaultAnchorB for HangprinterKinematics

func DefaultAnchorC 

func DefaultAnchorC() []float64

DefaultAnchorC for HangprinterKinematics

func DefaultForwardMatrix 

func DefaultForwardMatrix() [][]float64

DefaultForwardMatrix for CoreKinematics

func DefaultInverseMatrix 

func DefaultInverseMatrix() [][]float64

DefaultInverseMatrix for CoreKinematics

Types

type Axis 

type Axis struct {
	// Acceleration of this axis (in mm/s^2)
	Acceleration float64 `json:"acceleration"`
	// Babystep amount (in mm)
	Babystep float64 `json:"babystep"`
	// Current of the motor (in mA)
	Current int64 `json:"current"`
	// Homed indicates homing status
	Homed bool `json:"homed"`
	// Jerk of the motor (in mm/s)
	Jerk float64 `json:"jerk"`
	// Letter assigned to this axis (always upper-case)
	Letter string `json:"letter"`
	// MachinePosition is the current machine position (in mm or nil if unknown)
	MachinePosition *float64 `json:"machinePosition"`
	// Max travel of this axis (in mm)
	Max float64 `json:"max"`
	// MaxProbed is ture if the maximum was probed
	MaxProbed bool `json:"maxProbed"`
	// Microstepping of this axis
	Microstepping Microstepping `json:"microstepping"`
	// Min travel of this axis (in mm)
	Min float64 `json:"min"`
	// MinProbed is true if the minimum was probed
	MinProbed bool `json:"minProbed"`
	// Speed is the maximum speed (in mm/s)
	Speed float64 `json:"speed"`
	// StepsPerMm for this axis
	StepsPerMm float64 `json:"stepsPerMm"`
	// UserPosition (in mm or nil if unknown)
	UserPosition *float64 `json:"userPosition"`
	// Visible is true if the axis is not explicitely hidden
	Visible bool `json:"visible"`
	// WorkplaceOffsets for this axis (in mm)
	WorkplaceOffsets []float64 `json:"workplaceOffsets"`
}

Axis holds information about a configured axis

type BaseKinematics 

type BaseKinematics struct {
	// Name of currently configured kinematics
	Name KinematicsName `json:"name"`
}

BaseKinematics holds information about the configured kinematics

func (*BaseKinematics) AsKinematics 

func (bk *BaseKinematics) AsKinematics() Kinematics

AsKinematics converts this instance to Kinematics type

type CoreKinematics 

type CoreKinematics struct {
	BaseKinematics `mapstructure:",squash"`
	// ForwardMatrix is the regular movement matrix
	ForwardMatrix [][]float64 `json:"forwardMatrix"`
	// InverseMatrix is the inverted movement matrix
	InverseMatrix [][]float64 `json:"inverseMatrix"`
}

CoreKinematics holds information about core kinematics

func (*CoreKinematics) AsKinematics 

func (ck *CoreKinematics) AsKinematics() (Kinematics, error)

AsKinematics converts this instance to Kinematics type

type CurrentMove 

type CurrentMove struct {
	// Acceleration of the current move (in mm/s^2)
	Acceleration float64 `json:"acceleration"`
	// Deceleration of the current move (in mm/s^2)
	Deceleration float64 `json:"deceleration"`
	// LaserPwm of the current move as 0..1 or nil if not applicable
	LaserPwm *float64 `json:"laserPwm"`
	// RequestedSpeed of the current move (in mm/s)
	RequestedSpeed float64 `json:"requestedSpeed"`
	// TopSpeed actually reached for the current move (in mm/s)
	TopSpeed float64 `json:"topSpeed"`
}

CurrentMove holds information about the current move

type DAA 

type DAA struct {
	// Enabled indicates if DAA is enabled
	Enabled bool `json:"enabled"`
	// MinimumAcceleration allowed (in mm/s^2)
	MinimumAcceleration float64 `json:"minimumAcceleration"`
	// Period of the ringing that is supposed to be cancelled (in s)
	Period float64 `json:"period"`
}

DAA holds information about Dynamic Acceleration Adjustment

type DeltaKinematics 

type DeltaKinematics struct {
	BaseKinematics `mapstructure:",squash"`
	// DeltaRadius in mm
	DeltaRadius float64 `json:"deltaRadius"`
	// HomedHeight in mm
	HomedHeight float64 `json:"homedHeight"`
	// PrintRadius in mm
	PrintRadius float64 `json:"printRadius"`
	// Towers holds information about the delta Towers
	Towers []DeltaTower `json:"towers"`
	// XTilt is how much Z needs to be raised for each unit of movement
	// in the +X direction
	XTilt float64 `json:"xTilt"`
	// YTilt is how much Z needs to be raised for each unit of movement
	// in the +Y direction
	YTilt float64 `json:"yTilt"`
}

DeltaKinematics holds information about delta kinematics

func (*DeltaKinematics) AsKinematics 

func (dk *DeltaKinematics) AsKinematics() (Kinematics, error)

AsKinematics converts this instance to Kinematics type

type DeltaTower 

type DeltaTower struct {
	// AngleCorrection represents tower position correction (in degrees)
	AngleCorrection float64 `json:"angleCorrection"`
	// Diagonal rod length (in mm)
	Diagonal float64 `json:"diagonal"`
	// EndstopAdjustment is the deviation of the ideal endstop position (in mm)
	EndstopAdjustment float64 `json:"endstopAdjustment"`
	// XPos is the X coordinate of this tower (in mm)
	XPos float64 `json:"xPos"`
	// YPos is the Y coordinate of this tower (in mm)
	YPos float64 `json:"yPos"`
}

DeltaTower properties

type Extruder 

type Extruder struct {
	// Acceleration of this extruder (in mm/s^2)
	Acceleration float64 `json:"acceleration"`
	// Current of the motor (in mA)
	Current int64 `json:"current"`
	// Driver is the assigned driver
	Driver string `json:"driver"`
	// Filament is the name fo the currently loaded filament
	Filament string `json:"filament"`
	// Factor is the extrusion factor (1.0 equals 100%)
	Factor float64 `json:"factor"`
	// Jerk of the motor (in mm/s)
	Jerk float64 `json:"jerk"`
	// Microstepping of this extruder
	Microstepping Microstepping `json:"microstepping"`
	// NonLinear extrusion parameters (see M592)
	NonLinear ExtruderNonLinear `json:"nonLinear"`
	// Position of the extruder (in mm)
	Position float64 `json:"position"`
	// PressureAdvance (in s)
	PressureAdvance float64 `json:"pressureAdvance"`
	// RawPosition is the extruder position without factor applied (in mm)
	RawPosition float64 `json:"rawPosition"`
	// Speed is the maximum speed (in mm/s)
	Speed float64 `json:"speed"`
	// StepsPerMm for this extruder
	StepsPerMm float64 `json:"stepsPerMm"`
}

Extruder holds information about an extruder drive

type ExtruderNonLinear 

type ExtruderNonLinear struct {
	// A coefficient in the extrusion formula
	A float64 `json:"a"`
	// B coefficient in the extrusion formula
	B float64 `json:"b"`
	// UpperLimit of the nonlinear extrusion compensation
	UpperLimit float64 `json:"upperLimit"`
}

ExtruderNonLinear contains non-linear extrusion parameters (see M592)

type HangprinterKinematics 

type HangprinterKinematics struct {
	BaseKinematics `mapstructure:",squash"`
	// AnchorA of the hangprinter
	AnchorA []float64 `json:"anchorA"`
	// AnchorB of the hangprinter
	AnchorB []float64 `json:"anchorB"`
	// AnchorC of the hangprinter
	AnchorC []float64 `json:"anchorC"`
	// AnchorDz of the hangprinter
	AnchorDz float64 `json:"anchorDz"`
	// PrintRadius in mm
	PrintRadius float64 `json:"printRadius"`
}

HangprinterKinematics properties

func (*HangprinterKinematics) AsKinematics 

func (hk *HangprinterKinematics) AsKinematics() (Kinematics, error)

AsKinematics converts this instance to Kinematics type

type Kinematics 

type Kinematics map[string]interface{}

Kinematics is a placeholder type for SerDe

func (Kinematics) AsBaseKinematics 

func (k Kinematics) AsBaseKinematics() (*BaseKinematics, error)

AsBaseKinematics returns this instance as BaseKinematics

func (Kinematics) AsCoreKinematics 

func (k Kinematics) AsCoreKinematics() (*CoreKinematics, error)

AsCoreKinematics returns this instance as CoreKinematics

func (Kinematics) AsDeltaKinematics 

func (k Kinematics) AsDeltaKinematics() (*DeltaKinematics, error)

AsDeltaKinematics returns this instance as DeltaKinematics

func (Kinematics) AsHangprinterKinematics 

func (k Kinematics) AsHangprinterKinematics() (*HangprinterKinematics, error)

AsHangprinterKinematics returns this instance as HangprinterKinematics

func (Kinematics) GetName 

func (k Kinematics) GetName() KinematicsName

GetName returns the KinematicsName of this Kinematics instance

type KinematicsName 

type KinematicsName string

KinematicsName represents the supported kinmatics types

type Microstepping 

type Microstepping struct {
	// Interpolated indicates if microstep interpolation is in use
	Interpolated bool `json:"interpolated"`
	// Value is the microstepping factor
	Value uint16 `json:"value"`
}

Microstepping holds information about configured microstepping

type MotorsIdleControl 

type MotorsIdleControl struct {
	// Timeout after which the motor currents are reduced (in s)
	Timeout float64 `json:"timeout"`
	// Factor of the reduction on a scale between 0 and 1
	Factor float64 `json:"factor"`
}

MotorsIdleControl holds idle factor parameters for automatic MotorsIdleControl current reduction

type Move 

type Move struct {
	// Axes is a list of configured axes
	Axes []Axis `json:"axes"`
	// Calibration holds information about automatic calibration
	Calibration MoveCalibration `json:"calibration"`
	// Compensation holds information about the currently configured compensation options
	Compensation MoveCompensation `json:"compensation"`
	// CurrentMove holds information about the current move
	CurrentMove CurrentMove `json:"currentMove"`
	// DAA holds information about the configured Dynamic Acceleration Adjustment
	DAA DAA `json:"daa"`
	// Extruders is a list of configured extrudersr
	Extruders []Extruder `json:"extruders"`
	// Idle current reduction parameters
	Idle MotorsIdleControl `json:"idle"`
	// Kinematics holds information about the currently configured kinematics
	// Use one of the NewXXKinematics methods to convert it
	Kinematics Kinematics `json:"kinematics"`
	// PrintingAcceleration is maximum accelertion allowed while printing (in mm/s^2)
	PrintingAcceleration float64 `json:"printingAcceleration"`
	// SpeedFactor applied to every move (0.01..1 or greater)
	SpeedFactor float64 `json:"speedFactor"`
	// TravelAcceleration is maximum acceleration allowed while travelling (in mm/s^2)
	TravelAcceleration float64 `json:"travelAcceleration"`
	// WorkspaceNumber is the index of the currently selected workspace
	WorkspaceNumber int `json:"workspaceNumber"`
}

Move holds information about the move subsystem

type MoveCalibration 

type MoveCalibration struct {
	// Final calibration results (for Delta calibration)
	Final MoveDeviations `json:"final"`
	// Initial calibration resuls (for Delta calibration)
	Initial MoveDeviations `json:"initial"`
	// NumFactors is the number of factors used (for Delta calibration)
	NumFactors int64 `json:"numFactors"`
}

MoveCalibration holds information about configured calibration options

type MoveCompensation 

type MoveCompensation struct {
	// FadeHeight effective height before the bed compensation is turned off (in mm or nil if not configurea)
	FadeHeight *float64 `json:"fadeHeight"`
	// File is the full path to the currently used height map file or empty if none is used
	File string `json:"file"`
	// MeshDeviation are the deviations of the mesh grid of nil if not applicable
	MeshDeviation *MoveDeviations `json:"meshDeviation"`
	// ProbeGrid holds the settings of the current probe grid
	ProbeGrid ProbeGrid `json:"probeGrid"`
	// Skew holds information about the configured orthogonal axis parameters
	Skew Skew
	// Type is the type of compensation in use
	Type MoveCompensationType `json:"type"`
}

MoveCompensation holds informatin about the configured compensation options

type MoveCompensationType 

type MoveCompensationType string

MoveCompensationType are the supported compensation types 

const (
	// None for no compensations
	None MoveCompensationType = "none"
	// Mesh for mesh compensation
	Mesh = "mesh"
)

type MoveDeviations 

type MoveDeviations struct {
	// Deviation RMS (in mm)
	Deviation float64 `json:"deviation"`
	// Mean deviation (in mm)
	Mean float64 `json:"mean"`
}

MoveDeviations holds calibration or mesh grid results

type ProbeGrid 

type ProbeGrid struct {
	// XMin is the X start coordinate of the heightmap
	XMin float64 `json:"xMin"`
	// XMax is the X end coordinate of the heightmap
	XMax float64 `json:"xMax"`
	// XSpacing is the spacing between probe points in X direction
	XSpacing float64 `json:"xSpacing"`
	// YMin is the Y start coordinate of the heightmap
	YMin float64 `json:"yMin"`
	// YMax is the Y end coordinate of the heightmap
	YMax float64 `json:"yMax"`
	// YSpacing is the spacing between probe points in Y direction
	YSpacing float64 `json:"ySpacing"`
	// Radius is the probing radius on delta kinematics
	Radius float64 `json:"radius"`
}

ProbeGrid holds information about the configured probe grid (see M557)

type Skew added in v2.1.2 

type Skew struct {
	// TanXY is the tangent of the skew angle for XY axes
	TanXY float64
	// TaxXZ is the tangent of the skew angle for XZ axes
	TanXZ float64
	// TaxYZ is the tangent of the skew angle for YZ axes
	TanYZ float64
}

Skew holds details about orthogonal axis compensation parameters

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