diff options
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/__init__.py | 10 | ||||
| -rw-r--r-- | klippy/chelper/kin_polar.c | 41 |
2 files changed, 49 insertions, 2 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 567807fa..6427ba0f 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -16,7 +16,8 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC" " -o %s %s") SOURCE_FILES = [ 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', - 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_extruder.c' + 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', + 'kin_extruder.c', ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -70,6 +71,10 @@ defs_kin_delta = """ , double tower_x, double tower_y); """ +defs_kin_polar = """ + struct stepper_kinematics *polar_stepper_alloc(char type); +""" + defs_kin_extruder = """ struct stepper_kinematics *extruder_stepper_alloc(void); void extruder_move_fill(struct move *m, double print_time @@ -116,7 +121,8 @@ defs_std = """ defs_all = [ defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve, - defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_extruder + defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, + defs_kin_extruder ] # Return the list of file modification times diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c new file mode 100644 index 00000000..cc1f2eab --- /dev/null +++ b/klippy/chelper/kin_polar.c @@ -0,0 +1,41 @@ +// Polar kinematics stepper pulse time generation +// +// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include <math.h> // sqrt +#include <stdlib.h> // malloc +#include <string.h> // memset +#include "compiler.h" // __visible +#include "itersolve.h" // struct stepper_kinematics + +static double +polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + return sqrt(c.x*c.x + c.y*c.y); +} + +static double +polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + // XXX - handle x==y==0 + // XXX - handle angle wrapping + return atan2(c.y, c.x); +} + +struct stepper_kinematics * __visible +polar_stepper_alloc(char type) +{ + struct stepper_kinematics *sk = malloc(sizeof(*sk)); + memset(sk, 0, sizeof(*sk)); + if (type == 'r') + sk->calc_position = polar_stepper_radius_calc_position; + else if (type == 'a') + sk->calc_position = polar_stepper_angle_calc_position; + return sk; +} |