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klipper update

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Rainboooom
2023-06-15 11:41:08 +08:00
parent 845d13acb1
commit dffff1ae35
1921 changed files with 1625400 additions and 0 deletions
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41
klippy/chelper/kin_delta.c Normal file
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// Delta kinematics stepper pulse time generation
//
// Copyright (C) 2018-2019 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
#include "trapq.h" // move_get_coord
struct delta_stepper {
struct stepper_kinematics sk;
double arm2, tower_x, tower_y;
};
static double
delta_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct delta_stepper *ds = container_of(sk, struct delta_stepper, sk);
struct coord c = move_get_coord(m, move_time);
double dx = ds->tower_x - c.x, dy = ds->tower_y - c.y;
return sqrt(ds->arm2 - dx*dx - dy*dy) + c.z;
}
struct stepper_kinematics * __visible
delta_stepper_alloc(double arm2, double tower_x, double tower_y)
{
struct delta_stepper *ds = malloc(sizeof(*ds));
memset(ds, 0, sizeof(*ds));
ds->arm2 = arm2;
ds->tower_x = tower_x;
ds->tower_y = tower_y;
ds->sk.calc_position_cb = delta_stepper_calc_position;
ds->sk.active_flags = AF_X | AF_Y | AF_Z;
return &ds->sk;
}