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delta: Initial support for linear delta kinematics

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This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-09-15 12:20:49 -04:00
parent 7554c7f694
commit 941427554a
8 changed files with 507 additions and 5 deletions
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8
klippy/chelper.py
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@@ -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);