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/mcu.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'klippy/mcu.py') diff --git a/klippy/mcu.py b/klippy/mcu.py index 79537ed6..2c1e518b 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -69,6 +69,19 @@ class MCU_stepper: clock = mcu_time * self._mcu_freq return self.ffi_lib.stepcompress_push_factor( self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) + def step_delta_const(self, mcu_time, dist, step_dist, start_pos + , closest_height2, height, movez_r, inv_velocity): + clock = mcu_time * self._mcu_freq + return self.ffi_lib.stepcompress_push_delta_const( + self._stepqueue, clock, dist, step_dist, start_pos + , closest_height2, height, movez_r, inv_velocity * self._mcu_freq) + def step_delta_accel(self, mcu_time, dist, step_dist, start_pos + , closest_height2, height, movez_r, accel_multiplier): + clock = mcu_time * self._mcu_freq + mcu_freq2 = self._mcu_freq**2 + return self.ffi_lib.stepcompress_push_delta_accel( + self._stepqueue, clock, dist, step_dist, start_pos + , closest_height2, height, movez_r, accel_multiplier * mcu_freq2) def get_errors(self): return self.ffi_lib.stepcompress_get_errors(self._stepqueue) -- cgit v1.2.3-70-g09d2