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kinematics: Add dual_carriage to hybrid-corexyz (#4296)

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- Add dual_carriage abilities for hybrid-corexy and hybrid-corexz
- Introduce the module idex_mode
- Fix add_stepper to the correct rail in hybrid-corexy

Signed-off-by: Fabrice GALLET <tircown@gmail.com>
This commit is contained in:
Tircown 2021-06-28 00:37:05 +02:00 • committed by GitHub
parent 274d52729a
commit 4d559633e3
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 233 additions and 9 deletions
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1
klippy/chelper/__init__.py
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@ -80,6 +80,7 @@ defs_trapq = """
defs_kin_cartesian = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
struct stepper_kinematics *cartesian_reverse_stepper_alloc(char axis);
"""
defs_kin_corexy = """

39
klippy/chelper/kin_cartesian.c
View file

@ -49,3 +49,42 @@ cartesian_stepper_alloc(char axis)
}
return sk;
}
static double
cart_reverse_stepper_x_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).x;
}
static double
cart_reverse_stepper_y_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).y;
}
static double
cart_reverse_stepper_z_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_reverse_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x') {
sk->calc_position_cb = cart_reverse_stepper_x_calc_position;
sk->active_flags = AF_X;
} else if (axis == 'y') {
sk->calc_position_cb = cart_reverse_stepper_y_calc_position;
sk->active_flags = AF_Y;
} else if (axis == 'z') {
sk->calc_position_cb = cart_reverse_stepper_z_calc_position;
sk->active_flags = AF_Z;
}
return sk;
}