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winch: Add experimental support for cable winch kinematics

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-07-12 23:28:58 -04:00
committed by KevinOConnor
parent ec9cb3a1b3
commit 5dc74f3152
6 changed files with 209 additions and 2 deletions
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40
klippy/chelper/kin_winch.c Normal file
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// Cable winch stepper kinematics
//
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
//
// 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
struct winch_stepper {
struct stepper_kinematics sk;
struct coord anchor;
};
static double
winch_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct winch_stepper *hs = container_of(sk, struct winch_stepper, sk);
struct coord c = move_get_coord(m, move_time);
double dx = hs->anchor.x - c.x, dy = hs->anchor.y - c.y;
double dz = hs->anchor.z - c.z;
return sqrt(dx*dx + dy*dy + dz*dz);
}
struct stepper_kinematics * __visible
winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z)
{
struct winch_stepper *hs = malloc(sizeof(*hs));
memset(hs, 0, sizeof(*hs));
hs->anchor.x = anchor_x;
hs->anchor.y = anchor_y;
hs->anchor.z = anchor_z;
hs->sk.calc_position = winch_stepper_calc_position;
return &hs->sk;
}