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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-10-19 21:04:42 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2020-01-06 11:52:42 -0500 |
| commit | ac863a95b6689a0975e259512b9e49add306f2b4 (patch) | |
| tree | 4014f8262e103aaf572e41696b1c5be9578a442b /klippy/chelper/__init__.py | |
| parent | a56484c98b4369505c62a85f3fd6b4483f453e65 (diff) | |
| download | kutter-ac863a95b6689a0975e259512b9e49add306f2b4.tar.gz kutter-ac863a95b6689a0975e259512b9e49add306f2b4.tar.xz kutter-ac863a95b6689a0975e259512b9e49add306f2b4.zip | |
rotary_delta: Initial support for rotary delta kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index b76a795a..73058081 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC" SOURCE_FILES = [ 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', - 'kin_winch.c', 'kin_extruder.c', + 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -86,6 +86,12 @@ defs_kin_polar = """ struct stepper_kinematics *polar_stepper_alloc(char type); """ +defs_kin_rotary_delta = """ + struct stepper_kinematics *rotary_delta_stepper_alloc( + double shoulder_radius, double shoulder_height + , double angle, double upper_arm, double lower_arm); +""" + defs_kin_winch = """ struct stepper_kinematics *winch_stepper_alloc(double anchor_x , double anchor_y, double anchor_z); @@ -138,7 +144,7 @@ defs_all = [ defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, - defs_kin_winch, defs_kin_extruder + defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder ] # Return the list of file modification times |