From ec9cb3a1b302bddf10bde84fc87ae2a8ad6230b3 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Thu, 23 Aug 2018 14:21:58 -0400 Subject: polar: Experimental support for polar kinematics Signed-off-by: Kevin O'Connor --- klippy/chelper/kin_polar.c | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 klippy/chelper/kin_polar.c (limited to 'klippy/chelper/kin_polar.c') 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 +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include // sqrt +#include // malloc +#include // 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; +} -- cgit v1.2.3-70-g09d2