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corexz: Add CoreXZ kinematics (#3129)

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Add a CoreXZ kinematics

Signed-off-by: Maks Zolin <mzolin@vorondesign.com>
This commit is contained in:
Voron
2020-07-30 09:42:23 -07:00
committed by GitHub
parent f3b980c1b2
commit 9213646c63
5 changed files with 234 additions and 7 deletions
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18
klippy/chelper/__init__.py
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@@ -16,8 +16,9 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -o %s %s")
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
'kin_shaper.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@@ -78,6 +79,10 @@ defs_kin_corexy = """
struct stepper_kinematics *corexy_stepper_alloc(char type);
"""
defs_kin_corexz = """
struct stepper_kinematics *corexz_stepper_alloc(char type);
"""
defs_kin_delta = """
struct stepper_kinematics *delta_stepper_alloc(double arm2
, double tower_x, double tower_y);
@@ -165,11 +170,10 @@ defs_std = """
"""
defs_all = [
defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
defs_kin_shaper,
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy,
defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta,
defs_kin_winch, defs_kin_extruder, defs_kin_shaper,
]
# Return the list of file modification times

40
klippy/chelper/kin_corexz.c Normal file
View File

@@ -0,0 +1,40 @@
// CoreXZ kinematics stepper pulse time generation
//
// Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdlib.h> // malloc
#include <string.h> // 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;
}