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corexy: Initial corexy kinematic implementation

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Add initial support for corexy kinematics.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-12 13:47:16 -04:00
parent 57f279677f
commit 49bdc6fbd1
5 changed files with 254 additions and 3 deletions
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klippy/toolhead.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import cartesian, delta, extruder
import cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -185,6 +185,7 @@ class ToolHead:
if self.extruder is None:
self.extruder = extruder.DummyExtruder()
kintypes = {'cartesian': cartesian.CartKinematics,
'corexy': corexy.CoreXYKinematics,
'delta': delta.DeltaKinematics}
self.kin = config.getchoice('kinematics', kintypes)(printer, config)
self.max_speed = config.getfloat('max_velocity')