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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
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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
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".
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
cartesian space to movement on each stepper. The kinematics classes
are in cartesian.py, corexy.py, delta.py, and extruder.py. The
kinematic class is given a chance to audit the move
(`ToolHead.move() -> kin.check_move()`) before it goes on the
look-ahead queue, but once the move arrives in *kin*.move() the
kinematic class is required to handle the move as specified. Note
that the extruder is handled in its own kinematic class. Since the
Move() class specifies the exact movement time and since step pulses
are sent to the micro-controller with specific timing, stepper
movements produced by the extruder class will be in sync with head
movement even though the code is kept separate.
are located in the klippy/kinematics/ directory. The kinematic class
is given a chance to audit the move (`ToolHead.move() ->
kin.check_move()`) before it goes on the look-ahead queue, but once
the move arrives in *kin*.move() the kinematic class is required to
handle the move as specified. Note that the extruder is handled in
its own kinematic class. Since the Move() class specifies the exact
movement time and since step pulses are sent to the micro-controller
with specific timing, stepper movements produced by the extruder
class will be in sync with head movement even though the code is
kept separate.
* Klipper uses an
[iterative solver](https://en.wikipedia.org/wiki/Root-finding_algorithm)
@ -308,9 +309,9 @@ Useful steps:
1. Start by studying the
"[code flow of a move](#code-flow-of-a-move-command)" section and
the [Kinematics document](Kinematics.md).
2. Review the existing kinematic classes in cartesian.py, corexy.py,
and delta.py. The kinematic classes are tasked with converting a
move in cartesian coordinates to the movement on each stepper. One
2. Review the existing kinematic classes in the klippy/kinematics/
directory. The kinematic classes are tasked with converting a move
in cartesian coordinates to the movement on each stepper. One
should be able to copy one of these files as a starting point.
3. Implement the C stepper kinematic position functions for each
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
need to be efficient as it is typically only called during homing
and probing operations.
5. Other methods. The `move()`, `home()`, `check_move()`, and other
methods should also be implemented. These functions are typically
used to provide kinematic specific checks. However, at the start of
development one can use boiler-plate code here.
5. Other methods. Implement the `move()`, `check_move()`, `home()`,
`motor_off()`, `set_position()`, and `get_steppers()` methods.
These functions are typically used to provide kinematic specific
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
that can test important cases for the given kinematics. Follow the
[debugging documentation](Debugging.md) to convert this g-code file