kinematics: Add deltesian printers (#5743)

Initial push of the working deltesian kinematics after some successful tests.

Signed-off-by: Fabrice GALLET <tircown@gmail.com>

1 files changed, 76 insertions, 2 deletions

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index f4f9d39e..833e1457 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -85,8 +85,7 @@ The printer section controls high level printer settings.
 kinematics:
 #   The type of printer in use. This option may be one of: cartesian,
 #   corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
-#   polar, winch, or none. This
-#   parameter must be specified.
+#   deltesian, polar, winch, or none. This parameter must be specified.
 max_velocity:
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
 #   print). This parameter must be specified.
@@ -318,6 +317,81 @@ radius:
 #   just prior to starting a probe operation. The default is 5.
 ```
 
+### Deltesian Kinematics
+
+See [example-deltesian.cfg](../config/example-deltesian.cfg) for an
+example deltesian kinematics config file.
+
+Only parameters specific to deltesian printers are described here - see
+[common kinematic settings](#common-kinematic-settings) for available
+ parameters.
+
+```
+[printer]
+kinematics: deltesian
+max_z_velocity:
+#   For deltesian printers, this limits the maximum velocity (in mm/s) of
+#   moves with z axis movement. This setting can be used to reduce the
+#   maximum speed of up/down moves (which require a higher step rate
+#   than other moves on a deltesian printer). The default is to use
+#   max_velocity for max_z_velocity.
+#max_z_accel:
+#   This sets the maximum acceleration (in mm/s^2) of movement along
+#   the z axis. Setting this may be useful if the printer can reach higher
+#   acceleration on XY moves than Z moves (eg, when using input shaper).
+#   The default is to use max_accel for max_z_accel.
+#minimum_z_position: 0
+#   The minimum Z position that the user may command the head to move
+#   to. The default is 0.
+#min_angle: 5
+#   This represents the minimum angle (in degrees) relative to horizontal
+#   that the deltesian arms are allowed to achieve. This parameter is
+#   intended to restrict the arms from becomming completely horizontal,
+#   which would risk accidental inversion of the XZ axis. The default is 5.
+#print_width:
+#   The distance (in mm) of valid toolhead X coordinates. One may use
+#   this setting to customize the range checking of toolhead moves. If
+#   a large value is specified here then it may be possible to command
+#   the toolhead into a collision with a tower. This setting usually
+#   corresponds to bed width (in mm).
+#slow_ratio: 3
+#   The ratio used to limit velocity and acceleration on moves near the
+#   extremes of the X axis. If vertical distance divided by horizontal
+#   distance exceeds the value of slow_ratio, then velocity and
+#   acceleration are limited to half their nominal values. If vertical
+#   distance divided by horizontal distance exceeds twice the value of
+#   the slow_ratio, then velocity and acceleration are limited to one
+#   quarter of their nominal values. The default is 3.
+
+# The stepper_left section is used to describe the stepper controlling
+# the left tower. This section also controls the homing parameters
+# (homing_speed, homing_retract_dist) for all towers.
+[stepper_left]
+position_endstop:
+#   Distance (in mm) between the nozzle and the bed when the nozzle is
+#   in the center of the build area and the endstops are triggered. This
+#   parameter must be provided for stepper_left; for stepper_right this
+#   parameter defaults to the value specified for stepper_left.
+arm_length:
+#   Length (in mm) of the diagonal rod that connects the tower carriage to
+#   the print head. This parameter must be provided for stepper_left; for
+#   stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+arm_x_length:
+#   Horizontal distance between the print head and the tower when the
+#   printers is homed. This parameter must be provided for stepper_left;
+#   for stepper_right, this parameter defaults to the value specified for
+#   stepper_left.
+
+# The stepper_right section is used to desribe the stepper controlling the
+# right tower.
+[stepper_right]
+
+# The stepper_y section is used to describe the stepper controlling
+# the Y axis in a deltesian robot.
+[stepper_y]
+```
+
 ### CoreXY Kinematics
 
 See [example-corexy.cfg](../config/example-corexy.cfg) for an example