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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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38
klippy/chelper/kin_corexy.c Normal file
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// CoreXY 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 <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
static double
corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x + c.y;
}
static double
corexy_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x - c.y;
}
struct stepper_kinematics * __visible
corexy_stepper_alloc(char type)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == '+')
sk->calc_position = corexy_stepper_plus_calc_position;
else if (type == '-')
sk->calc_position = corexy_stepper_minus_calc_position;
return sk;
}