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trapq: Initial support for building a queue of trapezoidal velocity moves

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Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 18:50:53 -04:00
parent c06f6943a6
commit d3afe4f1d8
4 changed files with 81 additions and 6 deletions
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4
klippy/chelper/__init__.py
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@ -60,6 +60,10 @@ defs_trapq = """
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
struct trapq *trapq_alloc(void);
void trapq_free(struct trapq *tq);
void trapq_add_move(struct trapq *tq, struct move *m);
void trapq_free_moves(struct trapq *tq, double print_time);
"""
defs_kin_cartesian = """