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* stepper: Store max_velocity/max_accel instead of max_step_velocity/accelKevin O'Connor2016-07-101-13/+7
| | | | | | | | All users of max_step_velocity and max_step_accel end up multiplying by step_dist anyway, so it's easier to store max_velocity and max_accel. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Split toolhead code from cartesian.py to new file toolhead.pyKevin O'Connor2016-07-101-195/+3
| | | | | | Separate out the toolhead logic to its own python file. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Separate out cartesian robot handling from ToolHead classKevin O'Connor2016-07-101-90/+112
| | | | | | | Separate out the low-level stepper motor kinematics handling from the ToolHead class into its own class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Rename CartKinematics class to ToolHeadKevin O'Connor2016-07-101-13/+13
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* cartesian: Do acceleration and lookahead on requested coordinatesKevin O'Connor2016-07-101-51/+64
| | | | | | | | | Perform all acceleration calculations and lookahead checks in millimeters using the cartesian coordinate system of the request. The conversion to step coordinates is now done at the time of the step timing creation. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* Initial commit of source code.Kevin O'Connor2016-05-251-0/+252
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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