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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-09-15 12:20:49 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-14 12:35:36 -0500 |
| commit | 941427554a23dd0ae963eb9df7d2724c7c90809b (patch) | |
| tree | da98961e87b008d7cda3e1e5a4b8d37806f3ea5e /klippy/chelper.py | |
| parent | 7554c7f69423bf3d22f340a8b4851c25de855983 (diff) | |
| download | kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.tar.gz kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.tar.xz kutter-941427554a23dd0ae963eb9df7d2724c7c90809b.zip | |
delta: Initial support for linear delta kinematics
This adds support for delta based robots.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper.py')
| -rw-r--r-- | klippy/chelper.py | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/klippy/chelper.py b/klippy/chelper.py index a3ce4a95..d12946be 100644 --- a/klippy/chelper.py +++ b/klippy/chelper.py @@ -23,6 +23,14 @@ defs_stepcompress = """ int32_t stepcompress_push_sqrt(struct stepcompress *sc , double steps, double step_offset , double clock_offset, double sqrt_offset, double factor); + int32_t stepcompress_push_delta_const( + struct stepcompress *sc, double clock_offset, double dist + , double step_dist, double start_pos, double closest_height2 + , double height, double movez_r, double inv_velocity); + int32_t stepcompress_push_delta_accel( + struct stepcompress *sc, double clock_offset, double dist + , double step_dist, double start_pos, double closest_height2 + , double height, double movez_r, double accel_multiplier); void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); void stepcompress_queue_msg(struct stepcompress *sc , uint32_t *data, int len); |