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Diffstat (limited to 'docs')
| -rw-r--r-- | docs/Code_Overview.md | 38 |
1 files changed, 20 insertions, 18 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index bcf50ab5..3060e0ea 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -19,7 +19,8 @@ the generic directory (eg, src/generic/somefile.h). The **klippy/** directory contains the host software. Most of the host software is written in Python, however the **klippy/chelper/** -directory contains some C code helpers. The **klippy/extras/** +directory contains some C code helpers. The **klippy/kinematics/** +directory contains the robot kinematics code. The **klippy/extras/** directory contains the host code extensible "modules". The **lib/** directory contains external 3rd-party library code that @@ -159,16 +160,16 @@ provides further information on the mechanics of moves. * The goal of the kinematics classes is to translate the movement in cartesian space to movement on each stepper. The kinematics classes - are in cartesian.py, corexy.py, delta.py, and extruder.py. The - kinematic class is given a chance to audit the move - (`ToolHead.move() -> kin.check_move()`) before it goes on the - look-ahead queue, but once the move arrives in *kin*.move() the - kinematic class is required to handle the move as specified. Note - that the extruder is handled in its own kinematic class. Since the - Move() class specifies the exact movement time and since step pulses - are sent to the micro-controller with specific timing, stepper - movements produced by the extruder class will be in sync with head - movement even though the code is kept separate. + are located in the klippy/kinematics/ directory. The kinematic class + is given a chance to audit the move (`ToolHead.move() -> + kin.check_move()`) before it goes on the look-ahead queue, but once + the move arrives in *kin*.move() the kinematic class is required to + handle the move as specified. Note that the extruder is handled in + its own kinematic class. Since the Move() class specifies the exact + movement time and since step pulses are sent to the micro-controller + with specific timing, stepper movements produced by the extruder + class will be in sync with head movement even though the code is + kept separate. * Klipper uses an [iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm) @@ -308,9 +309,9 @@ Useful steps: 1. Start by studying the "[code flow of a move](#code-flow-of-a-move-command)" section and the [Kinematics document](Kinematics.md). -2. Review the existing kinematic classes in cartesian.py, corexy.py, - and delta.py. The kinematic classes are tasked with converting a - move in cartesian coordinates to the movement on each stepper. One +2. Review the existing kinematic classes in the klippy/kinematics/ + directory. The kinematic classes are tasked with converting a move + in cartesian coordinates to the movement on each stepper. One should be able to copy one of these files as a starting point. 3. Implement the C stepper kinematic position functions for each stepper if they are not already available (see kin_cart.c, @@ -324,10 +325,11 @@ Useful steps: coordinates from the current position of each stepper. It does not need to be efficient as it is typically only called during homing and probing operations. -5. Other methods. The `move()`, `home()`, `check_move()`, and other - methods should also be implemented. These functions are typically - used to provide kinematic specific checks. However, at the start of - development one can use boiler-plate code here. +5. Other methods. Implement the `move()`, `check_move()`, `home()`, + `motor_off()`, `set_position()`, and `get_steppers()` methods. + These functions are typically used to provide kinematic specific + checks. However, at the start of development one can use + boiler-plate code here. 6. Implement test cases. Create a g-code file with a series of moves that can test important cases for the given kinematics. Follow the [debugging documentation](Debugging.md) to convert this g-code file |