delta: Initial support for linear delta kinematics

This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 13 insertions, 0 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index 79537ed6..2c1e518b 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -69,6 +69,19 @@ class MCU_stepper:
         clock = mcu_time * self._mcu_freq
         return self.ffi_lib.stepcompress_push_factor(
             self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
+    def step_delta_const(self, mcu_time, dist, step_dist, start_pos
+                         , closest_height2, height, movez_r, inv_velocity):
+        clock = mcu_time * self._mcu_freq
+        return self.ffi_lib.stepcompress_push_delta_const(
+            self._stepqueue, clock, dist, step_dist, start_pos
+            , closest_height2, height, movez_r, inv_velocity * self._mcu_freq)
+    def step_delta_accel(self, mcu_time, dist, step_dist, start_pos
+                         , closest_height2, height, movez_r, accel_multiplier):
+        clock = mcu_time * self._mcu_freq
+        mcu_freq2 = self._mcu_freq**2
+        return self.ffi_lib.stepcompress_push_delta_accel(
+            self._stepqueue, clock, dist, step_dist, start_pos
+            , closest_height2, height, movez_r, accel_multiplier * mcu_freq2)
     def get_errors(self):
         return self.ffi_lib.stepcompress_get_errors(self._stepqueue)