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itersolve: Support calculating a stepper position from a cartesian coordinate

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-18 11:51:28 -04:00
parent e2b4b1616f
commit cb29143939
5 changed files with 15 additions and 12 deletions
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4
klippy/chelper/__init__.py
View file

@ -1,6 +1,6 @@
# Wrapper around C helper code
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
@ -51,7 +51,7 @@ defs_itersolve = """
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);

8
klippy/chelper/itersolve.c
View file

@ -215,14 +215,14 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
sk->step_dist = step_dist;
}
void __visible
itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z)
double __visible
itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z)
{
struct move m;
memset(&m, 0, sizeof(m));
move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.);
sk->commanded_pos = sk->calc_position(sk, &m, 0.);
return sk->calc_position(sk, &m, 0.);
}
void __visible

4
klippy/chelper/itersolve.h
View file

@ -41,8 +41,8 @@ struct stepper_kinematics {
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);