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winch: Add experimental support for cable winch kinematics

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-12 23:28:58 -04:00 • committed by KevinOConnor
parent ec9cb3a1b3
commit 5dc74f3152
6 changed files with 209 additions and 2 deletions
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9
klippy/chelper/__init__.py
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@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_extruder.c',
'kin_winch.c', 'kin_extruder.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@ -75,6 +75,11 @@ defs_kin_polar = """
struct stepper_kinematics *polar_stepper_alloc(char type);
"""
defs_kin_winch = """
struct stepper_kinematics *winch_stepper_alloc(double anchor_x
, double anchor_y, double anchor_z);
"""
defs_kin_extruder = """
struct stepper_kinematics *extruder_stepper_alloc(void);
void extruder_move_fill(struct move *m, double print_time
@ -122,7 +127,7 @@ defs_std = """
defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_extruder
defs_kin_winch, defs_kin_extruder
]
# Return the list of file modification times