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toolhead: Move kinematic modules to new kinematics/ directory

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Move extruder.py, cartesian.py, corexy.py, and delta.py to a new
kinematics/ sub-directory.  This is intended to make adding new
kinematics a little easier.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-12 22:15:45 -04:00
parent 7d897d84d7
commit 8faab46ed2
9 changed files with 37 additions and 17 deletions
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9
klippy/extras/delta_calibrate.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 probe, delta, mathutil
import probe, mathutil, kinematics.delta
class DeltaCalibrate:
def __init__(self, config):
@ -40,10 +40,11 @@ class DeltaCalibrate:
logging.info("Initial delta_calibrate parameters: %s", params)
adj_params = ('endstop_a', 'endstop_b', 'endstop_c', 'radius',
'angle_a', 'angle_b')
get_position_from_stable = kinematics.delta.get_position_from_stable
def delta_errorfunc(params):
total_error = 0.
for spos in positions:
x, y, z = delta.get_position_from_stable(spos, params)
x, y, z = get_position_from_stable(spos, params)
total_error += (z - z_offset)**2
return total_error
new_params = mathutil.coordinate_descent(
@ -51,8 +52,8 @@ class DeltaCalibrate:
logging.info("Calculated delta_calibrate parameters: %s", new_params)
for spos in positions:
logging.info("orig: %s new: %s",
delta.get_position_from_stable(spos, params),
delta.get_position_from_stable(spos, new_params))
get_position_from_stable(spos, params),
get_position_from_stable(spos, new_params))
self.gcode.respond_info(
"stepper_a: position_endstop: %.6f angle: %.6f\n"
"stepper_b: position_endstop: %.6f angle: %.6f\n"