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corexy: Convert corexy to use the iterative solver

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-09 14:30:22 -04:00
parent ca0d0135dc
commit fc4a9e7564
5 changed files with 138 additions and 42 deletions
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48
klippy/chelper/kin_cartesian.c
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@@ -5,10 +5,18 @@
// 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" // likely
#include "itersolve.h" // move_get_coord
#include "pyhelper.h" // errorf
#include "stepcompress.h" // queue_append
/****************************************************************
* Direct step generation
****************************************************************/
// Common suffixes: _sd is step distance (a unit length the same
// distance the stepper moves on each step), _sv is step velocity (in
// units of step distance per time), _sd2 is step distance squared, _r
@@ -111,3 +119,43 @@ stepcompress_push_const(
}
return res;
}
/****************************************************************
* Iterative solver
****************************************************************/
static double
cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).x;
}
static double
cart_stepper_y_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).y;
}
static double
cart_stepper_z_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x')
sk->calc_position = cart_stepper_x_calc_position;
else if (axis == 'y')
sk->calc_position = cart_stepper_y_calc_position;
else if (axis == 'z')
sk->calc_position = cart_stepper_z_calc_position;
return sk;
}