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| author | Dmitry Butyugin <dmbutyugin@google.com> | 2025-05-07 00:06:36 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2025-05-06 18:06:36 -0400 |
| commit | cc6736c3e35cb6f6e660d973be67ab4cef78ffb9 (patch) | |
| tree | ac402e87f007dec73e7dd551088600252cb1437f /klippy/chelper/__init__.py | |
| parent | 1cc63980747b80516f8fc4f022eedf18ae739086 (diff) | |
| download | kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.tar.gz kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.tar.xz kutter-cc6736c3e35cb6f6e660d973be67ab4cef78ffb9.zip | |
kinematics: Generic Cartesian kinematics implementation (#6815)
* tests: Added a regression test for generic_cartesian kinematics
* kinematics: An intial implementation of generic_cartesian kinematics
* generic_cartesian: Refactored kinematics configuration API
* generic_cartesian: Use stepper instead of kinematic_stepper in configs
* generic_cartesian: Added SET_STEPPER_KINEMATICS command
* generic_cartesian: Fixed parsing of section names
* docs: Generic Caretsian kinematics documentation and config samples
* generic_cartesian: Implemented multi-mcu homing validation
* generic_cartesian: Fixed typos in docs, minor fixes
* generic_cartesian: Renamed `kinematics` option to `carriages`
* generic_cartesian: Moved kinematic_stepper.py file
* idex_modes: Internal refactoring of handling dual carriages
* stepper: Refactored the code to not store a reference to config object
* config: Updated example-generic-cartesian config
* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status
* idex_modes: Fixed handling stepper kinematics with input shaper enabled
* config: Updated configs and tests for SET_DUAL_CARRIAGE new params
* generic_cartesian: Avoid inheritance in the added classes
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index fa1261be..9fe64dd6 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -21,7 +21,7 @@ SOURCE_FILES = [ 'pollreactor.c', 'msgblock.c', 'trdispatch.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c', 'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', - 'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', + 'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', 'kin_generic.c' ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -106,6 +106,12 @@ defs_trapq = """ defs_kin_cartesian = """ struct stepper_kinematics *cartesian_stepper_alloc(char axis); """ +defs_kin_generic_cartesian = """ + struct stepper_kinematics *generic_cartesian_stepper_alloc(double a_x + , double a_y, double a_z); + void generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk + , double a_x, double a_y, double a_z); +""" defs_kin_corexy = """ struct stepper_kinematics *corexy_stepper_alloc(char type); @@ -224,6 +230,7 @@ defs_all = [ defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta, defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder, defs_kin_shaper, defs_kin_idex, + defs_kin_generic_cartesian, ] # Update filenames to an absolute path |