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polar: Experimental support for polar kinematics

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-08-23 14:21:58 -04:00
committed by KevinOConnor
parent 7e3e02a17a
commit ec9cb3a1b3
5 changed files with 298 additions and 2 deletions
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41
klippy/chelper/kin_polar.c Normal file
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// Polar kinematics stepper pulse time generation
//
// 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 <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
static double
polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return sqrt(c.x*c.x + c.y*c.y);
}
static double
polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
// XXX - handle x==y==0
// XXX - handle angle wrapping
return atan2(c.y, c.x);
}
struct stepper_kinematics * __visible
polar_stepper_alloc(char type)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == 'r')
sk->calc_position = polar_stepper_radius_calc_position;
else if (type == 'a')
sk->calc_position = polar_stepper_angle_calc_position;
return sk;
}