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rotary_delta: Initial support for rotary delta kinematics

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-19 21:04:42 -04:00
parent a56484c98b
commit ac863a95b6
7 changed files with 546 additions and 2 deletions
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10
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', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_winch.c', 'kin_extruder.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@ -86,6 +86,12 @@ defs_kin_polar = """
struct stepper_kinematics *polar_stepper_alloc(char type);
"""
defs_kin_rotary_delta = """
struct stepper_kinematics *rotary_delta_stepper_alloc(
double shoulder_radius, double shoulder_height
, double angle, double upper_arm, double lower_arm);
"""
defs_kin_winch = """
struct stepper_kinematics *winch_stepper_alloc(double anchor_x
, double anchor_y, double anchor_z);
@ -138,7 +144,7 @@ defs_all = [
defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_winch, defs_kin_extruder
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder
]
# Return the list of file modification times