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kinematics: Generic Cartesian kinematics implementation (#6815)

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* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin 2025-05-07 00:06:36 +02:00 • committed by GitHub
parent 1cc6398074
commit cc6736c3e3
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27 changed files with 1855 additions and 199 deletions
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15
klippy/mathutil.py
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@ -135,3 +135,18 @@ def matrix_sub(m1, m2):
def matrix_mul(m1, s):
return [m1[0]*s, m1[1]*s, m1[2]*s]
######################################################################
# Matrix helper functions for 3x3 matrices
######################################################################
def matrix_det(a):
x0, x1, x2 = a
return matrix_dot(x0, matrix_cross(x1, x2))
def matrix_inv(a):
x0, x1, x2 = a
inv_det = 1. / matrix_det(a)
return [matrix_mul(matrix_cross(x1, x2), inv_det),
matrix_mul(matrix_cross(x2, x0), inv_det),
matrix_mul(matrix_cross(x0, x1), inv_det)]