From 941427554a23dd0ae963eb9df7d2724c7c90809b Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 15 Sep 2016 12:20:49 -0400 Subject: delta: Initial support for linear delta kinematics This adds support for delta based robots. Signed-off-by: Kevin O'Connor --- klippy/chelper.py | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'klippy/chelper.py') diff --git a/klippy/chelper.py b/klippy/chelper.py index a3ce4a95..d12946be 100644 --- a/klippy/chelper.py +++ b/klippy/chelper.py @@ -23,6 +23,14 @@ defs_stepcompress = """ int32_t stepcompress_push_sqrt(struct stepcompress *sc , double steps, double step_offset , double clock_offset, double sqrt_offset, double factor); + int32_t stepcompress_push_delta_const( + struct stepcompress *sc, double clock_offset, double dist + , double step_dist, double start_pos, double closest_height2 + , double height, double movez_r, double inv_velocity); + int32_t stepcompress_push_delta_accel( + struct stepcompress *sc, double clock_offset, double dist + , double step_dist, double start_pos, double closest_height2 + , double height, double movez_r, double accel_multiplier); void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); void stepcompress_queue_msg(struct stepcompress *sc , uint32_t *data, int len); -- cgit v1.2.3-70-g09d2