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docs: Minor update to Code_Overview.md with further kinematics info 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-11-17 14:56:15 -05:00
parent cd1e669306
commit bb41765714
1 changed files with 20 additions and 18 deletions
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docs/Code_Overview.md
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@ -19,7 +19,8 @@ the generic directory (eg, src/generic/somefile.h).
The **klippy/** directory contains the host software. Most of the host The **klippy/** directory contains the host software. Most of the host
software is written in Python, however the **klippy/chelper/** software is written in Python, however the **klippy/chelper/**
directory contains some C code helpers. The **klippy/extras/** directory contains some C code helpers. The **klippy/kinematics/**
directory contains the robot kinematics code. The **klippy/extras/**
directory contains the host code extensible "modules". directory contains the host code extensible "modules".
The **lib/** directory contains external 3rd-party library code that The **lib/** directory contains external 3rd-party library code that
@ -159,16 +160,16 @@ provides further information on the mechanics of moves.
* The goal of the kinematics classes is to translate the movement in * The goal of the kinematics classes is to translate the movement in
cartesian space to movement on each stepper. The kinematics classes cartesian space to movement on each stepper. The kinematics classes
are in cartesian.py, corexy.py, delta.py, and extruder.py. The are located in the klippy/kinematics/ directory. The kinematic class
kinematic class is given a chance to audit the move is given a chance to audit the move (`ToolHead.move() ->
(`ToolHead.move() -> kin.check_move()`) before it goes on the kin.check_move()`) before it goes on the look-ahead queue, but once
look-ahead queue, but once the move arrives in *kin*.move() the the move arrives in *kin*.move() the kinematic class is required to
kinematic class is required to handle the move as specified. Note handle the move as specified. Note that the extruder is handled in
that the extruder is handled in its own kinematic class. Since the its own kinematic class. Since the Move() class specifies the exact
Move() class specifies the exact movement time and since step pulses movement time and since step pulses are sent to the micro-controller
are sent to the micro-controller with specific timing, stepper with specific timing, stepper movements produced by the extruder
movements produced by the extruder class will be in sync with head class will be in sync with head movement even though the code is
movement even though the code is kept separate. kept separate.
* Klipper uses an * Klipper uses an
[iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm) [iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm)
@ -308,9 +309,9 @@ Useful steps:
1. Start by studying the 1. Start by studying the
"[code flow of a move](#code-flow-of-a-move-command)" section and "[code flow of a move](#code-flow-of-a-move-command)" section and
the [Kinematics document](Kinematics.md). the [Kinematics document](Kinematics.md).
2. Review the existing kinematic classes in cartesian.py, corexy.py, 2. Review the existing kinematic classes in the klippy/kinematics/
and delta.py. The kinematic classes are tasked with converting a directory. The kinematic classes are tasked with converting a move
move in cartesian coordinates to the movement on each stepper. One in cartesian coordinates to the movement on each stepper. One
should be able to copy one of these files as a starting point. should be able to copy one of these files as a starting point.
3. Implement the C stepper kinematic position functions for each 3. Implement the C stepper kinematic position functions for each
stepper if they are not already available (see kin_cart.c, stepper if they are not already available (see kin_cart.c,
@ -324,10 +325,11 @@ Useful steps:
coordinates from the current position of each stepper. It does not coordinates from the current position of each stepper. It does not
need to be efficient as it is typically only called during homing need to be efficient as it is typically only called during homing
and probing operations. and probing operations.
5. Other methods. The `move()`, `home()`, `check_move()`, and other 5. Other methods. Implement the `move()`, `check_move()`, `home()`,
methods should also be implemented. These functions are typically `motor_off()`, `set_position()`, and `get_steppers()` methods.
used to provide kinematic specific checks. However, at the start of These functions are typically used to provide kinematic specific
development one can use boiler-plate code here. checks. However, at the start of development one can use
boiler-plate code here.
6. Implement test cases. Create a g-code file with a series of moves 6. Implement test cases. Create a g-code file with a series of moves
that can test important cases for the given kinematics. Follow the that can test important cases for the given kinematics. Follow the
[debugging documentation](Debugging.md) to convert this g-code file [debugging documentation](Debugging.md) to convert this g-code file