From 9213646c63c6027a7c43ad254ba9cf09ebd166df Mon Sep 17 00:00:00 2001 From: Voron <44981431+VoronDesign@users.noreply.github.com> Date: Thu, 30 Jul 2020 09:42:23 -0700 Subject: corexz: Add CoreXZ kinematics (#3129) Add a CoreXZ kinematics Signed-off-by: Maks Zolin --- klippy/chelper/kin_corexz.c | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 klippy/chelper/kin_corexz.c (limited to 'klippy/chelper/kin_corexz.c') diff --git a/klippy/chelper/kin_corexz.c b/klippy/chelper/kin_corexz.c new file mode 100644 index 00000000..320dc239 --- /dev/null +++ b/klippy/chelper/kin_corexz.c @@ -0,0 +1,40 @@ +// CoreXZ kinematics stepper pulse time generation +// +// Copyright (C) 2020 Maks Zolin +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include // malloc +#include // memset +#include "compiler.h" // __visible +#include "itersolve.h" // struct stepper_kinematics +#include "trapq.h" // move_get_coord + +static double +corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + return c.x + c.z; +} + +static double +corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + return c.x - c.z; +} + +struct stepper_kinematics * __visible +corexz_stepper_alloc(char type) +{ + struct stepper_kinematics *sk = malloc(sizeof(*sk)); + memset(sk, 0, sizeof(*sk)); + if (type == '+') + sk->calc_position_cb = corexz_stepper_plus_calc_position; + else if (type == '-') + sk->calc_position_cb = corexz_stepper_minus_calc_position; + sk->active_flags = AF_X | AF_Z; + return sk; +} -- cgit v1.2.3-70-g09d2