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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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7
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, time
import cartesian
import cartesian, delta
EXTRUDE_DIFF_IGNORE = 1.02
@ -159,7 +159,10 @@ class ToolHead:
self.printer = printer
self.reactor = printer.reactor
self.extruder = printer.objects.get('extruder')
self.kin = cartesian.CartKinematics(printer, config)
kintypes = {'cartesian': cartesian.CartKinematics,
'delta': delta.DeltaKinematics}
kin = config.get('kinematics', 'cartesian')
self.kin = kintypes[kin](printer, config)
self.max_speed, self.max_accel = self.kin.get_max_speed()
self.junction_deviation = config.getfloat('junction_deviation', 0.02)
self.move_queue = MoveQueue()