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CoreXY, dda_kinematics.c/.h: introduce KINEMATICS_COREXY. 

Implementation isn't that difficult, should be complete and working
fine already.
This commit is contained in:
Markus Hitter 2014-10-16 22:28:32 +02:00
parent be0af71b2e
commit 2651c10404
2 changed files with 21 additions and 5 deletions
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16
dda_kinematics.c
View File

@ -18,3 +18,19 @@ carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
steps[i] = um_to_steps(target->axis[i], i);
}
}
void
carthesian_to_corexy(TARGET *startpoint, TARGET *target,
axes_uint32_t delta_um, axes_int32_t steps) {
delta_um[X] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) +
(target->axis[Y] - startpoint->axis[Y]));
steps[X] = um_to_steps(target->axis[X] + target->axis[Y], X);
delta_um[Y] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) -
(target->axis[Y] - startpoint->axis[Y]));
steps[Y] = um_to_steps(target->axis[X] - target->axis[Y], Y);
delta_um[Z] = (uint32_t)labs(target->axis[Z] - startpoint->axis[Z]);
steps[Z] = um_to_steps(target->axis[Z], Z);
}

10
dda_kinematics.h
View File

@ -6,7 +6,7 @@
#include "dda.h"
#define KINEMATICS_STRAIGHT 1
//#define KINEMATICS_COREXY 2
#define KINEMATICS_COREXY 2
//#define KINEMATICS_SCARA 3
#include "config_wrapper.h"
@ -15,8 +15,8 @@
void carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
axes_uint32_t delta_um, axes_int32_t steps);
//void carthesian_to_corexy(TARGET *startpoint, TARGET *target,
// axes_uint32_t delta_um, axes_int32_t steps);
void carthesian_to_corexy(TARGET *startpoint, TARGET *target,
axes_uint32_t delta_um, axes_int32_t steps);
//void carthesian_to_scara(TARGET *startpoint, TARGET *target,
// axes_uint32_t delta_um, axes_int32_t steps);
@ -29,8 +29,8 @@ inline void code_axes_to_stepper_axes(TARGET *startpoint, TARGET *target,
axes_int32_t steps) {
#if KINEMATICS == KINEMATICS_STRAIGHT
carthesian_to_carthesian(startpoint, target, delta_um, steps);
// #elif KINEMATICS == KINEMATICS_COREXY
// carthesian_to_corexy(startpoint, target, delta_um, steps);
#elif KINEMATICS == KINEMATICS_COREXY
carthesian_to_corexy(startpoint, target, delta_um, steps);
// #elif KINEMATICS == KINEMATICS_SCARA
// return carthesian_to_scara(startpoint, target, delta_um, steps);
#else