diff options
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/__init__.py | 13 | ||||
| -rw-r--r-- | klippy/chelper/kin_deltesian.c | 41 |
2 files changed, 50 insertions, 4 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index fa776d14..04119614 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -20,8 +20,8 @@ SOURCE_FILES = [ 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c', 'pollreactor.c', 'msgblock.c', 'trdispatch.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c', - 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', - 'kin_shaper.c', + 'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', + 'kin_extruder.c', 'kin_shaper.c', ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -117,6 +117,11 @@ defs_kin_delta = """ , double tower_x, double tower_y); """ +defs_kin_deltesian = """ + struct stepper_kinematics *deltesian_stepper_alloc(double arm2 + , double arm_x); +""" + defs_kin_polar = """ struct stepper_kinematics *polar_stepper_alloc(char type); """ @@ -205,8 +210,8 @@ defs_all = [ defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve, defs_trapq, defs_trdispatch, defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta, - defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder, - defs_kin_shaper, + defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch, + defs_kin_extruder, defs_kin_shaper, ] # Update filenames to an absolute path diff --git a/klippy/chelper/kin_deltesian.c b/klippy/chelper/kin_deltesian.c new file mode 100644 index 00000000..c5fcb2e9 --- /dev/null +++ b/klippy/chelper/kin_deltesian.c @@ -0,0 +1,41 @@ +// Deltesian kinematics stepper pulse time generation +// +// Copyright (C) 2022 Fabrice Gallet <tircown@gmail.com> +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include <math.h> // sqrt +#include <stddef.h> // offsetof +#include <stdlib.h> // malloc +#include <string.h> // memset +#include "compiler.h" // __visible +#include "itersolve.h" // struct stepper_kinematics +#include "trapq.h" // move_get_coord + +struct deltesian_stepper { + struct stepper_kinematics sk; + double arm2, arm_x; +}; + +static double +deltesian_stepper_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct deltesian_stepper *ds = container_of( + sk, struct deltesian_stepper, sk); + struct coord c = move_get_coord(m, move_time); + double dx = c.x - ds->arm_x; + return sqrt(ds->arm2 - dx*dx) + c.z; +} + +struct stepper_kinematics * __visible +deltesian_stepper_alloc(double arm2, double arm_x) +{ + struct deltesian_stepper *ds = malloc(sizeof(*ds)); + memset(ds, 0, sizeof(*ds)); + ds->arm2 = arm2; + ds->arm_x = arm_x; + ds->sk.calc_position_cb = deltesian_stepper_calc_position; + ds->sk.active_flags = AF_X | AF_Z; + return &ds->sk; +} |