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3 commits

Author SHA1 Message Date
Kevin O'Connor
e4153a536f mcu: Change mcu_stepper.set_position() to take a location in millimeters 
Update the set_position() method to convert from millimeters to
absolute step position.

Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
 2017-04-07 13:44:17 -04:00
Kevin O'Connor
c4b1a79db2 mcu: Pass constant velocity and acceleration directly to mcu_stepper 
Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
 2017-04-07 13:43:56 -04:00
Kevin O'Connor
49bdc6fbd1 corexy: Initial corexy kinematic implementation 
Add initial support for corexy kinematics.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
 2017-04-03 17:27:14 -04:00