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itersolve: Add kinematic iterative solver code

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-08 19:55:24 -04:00
parent ba3428822d
commit 2511471b0d
5 changed files with 315 additions and 4 deletions
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32
klippy/chelper/itersolve.h Normal file
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#ifndef ITERSOLVE_H
#define ITERSOLVE_H
#include <stdint.h> // uint32_t
struct coord {
double x, y, z;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, 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 coord move_get_coord(struct move *m, double move_time);
struct stepper_kinematics;
typedef double (*sk_callback)(struct stepper_kinematics *sk, struct move *m
, double move_time);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
sk_callback calc_position;
};
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_commanded_pos(struct stepper_kinematics *sk, double pos);
#endif // itersolve.h