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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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59
klippy/chelper/kin_polar.c Normal file
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// Polar 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 <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
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
double angle = atan2(c.y, c.x);
if (angle - sk->commanded_pos > M_PI)
angle -= 2. * M_PI;
else if (angle - sk->commanded_pos < -M_PI)
angle += 2. * M_PI;
return angle;
}
static void
polar_stepper_angle_post_fixup(struct stepper_kinematics *sk)
{
// Normalize the stepper_bed angle
if (sk->commanded_pos < -M_PI)
sk->commanded_pos += 2 * M_PI;
else if (sk->commanded_pos > M_PI)
sk->commanded_pos -= 2 * M_PI;
}
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_cb = polar_stepper_radius_calc_position;
} else if (type == 'a') {
sk->calc_position_cb = polar_stepper_angle_calc_position;
sk->post_cb = polar_stepper_angle_post_fixup;
}
sk->active_flags = AF_X | AF_Y;
return sk;
}