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kinematics: Add deltesian printers (#5743)

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Initial push of the working deltesian kinematics after some successful tests.

Signed-off-by: Fabrice GALLET <tircown@gmail.com>
This commit is contained in:
Tircown
2022-09-01 21:56:31 +02:00
committed by GitHub
parent ec4ecd7a70
commit 354915d2ad
6 changed files with 384 additions and 6 deletions
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13
klippy/chelper/__init__.py
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@@ -20,8 +20,8 @@ SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'pollreactor.c', 'msgblock.c', 'trdispatch.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',
'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
'kin_extruder.c', 'kin_shaper.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@@ -117,6 +117,11 @@ defs_kin_delta = """
, double tower_x, double tower_y);
"""
defs_kin_deltesian = """
struct stepper_kinematics *deltesian_stepper_alloc(double arm2
, double arm_x);
"""
defs_kin_polar = """
struct stepper_kinematics *polar_stepper_alloc(char type);
"""
@@ -205,8 +210,8 @@ defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
defs_itersolve, defs_trapq, defs_trdispatch,
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,
defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
defs_kin_extruder, defs_kin_shaper,
]
# Update filenames to an absolute path

41
klippy/chelper/kin_deltesian.c Normal file
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@@ -0,0 +1,41 @@
// Deltesian kinematics stepper pulse time generation
//
// Copyright (C) 2022 Fabrice Gallet <tircown@gmail.com>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt
#include <stddef.h> // offsetof
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
struct deltesian_stepper {
struct stepper_kinematics sk;
double arm2, arm_x;
};
static double
deltesian_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct deltesian_stepper *ds = container_of(
sk, struct deltesian_stepper, sk);
struct coord c = move_get_coord(m, move_time);
double dx = c.x - ds->arm_x;
return sqrt(ds->arm2 - dx*dx) + c.z;
}
struct stepper_kinematics * __visible
deltesian_stepper_alloc(double arm2, double arm_x)
{
struct deltesian_stepper *ds = malloc(sizeof(*ds));
memset(ds, 0, sizeof(*ds));
ds->arm2 = arm2;
ds->arm_x = arm_x;
ds->sk.calc_position_cb = deltesian_stepper_calc_position;
ds->sk.active_flags = AF_X | AF_Z;
return &ds->sk;
}