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plus4的klipper版本

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whb0514
2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
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41
klippy/chelper/kin_deltesian.c Normal file
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// 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;
}