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delta: Initial support for linear delta kinematics

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This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-15 12:20:49 -04:00
parent 7554c7f694
commit 941427554a
8 changed files with 507 additions and 5 deletions
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13
klippy/mcu.py
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@ -69,6 +69,19 @@ class MCU_stepper:
clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
def step_delta_const(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity):
clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_delta_const(
self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity * self._mcu_freq)
def step_delta_accel(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
return self.ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier * mcu_freq2)
def get_errors(self):
return self.ffi_lib.stepcompress_get_errors(self._stepqueue)