42 lines
1.3 KiB
C
42 lines
1.3 KiB
C
// Delta kinematics stepper pulse time generation
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//
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// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // move_get_coord
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struct delta_stepper {
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struct stepper_kinematics sk;
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double arm2, tower_x, tower_y;
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};
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static double
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delta_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct delta_stepper *ds = container_of(sk, struct delta_stepper, sk);
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struct coord c = move_get_coord(m, move_time);
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double dx = ds->tower_x - c.x, dy = ds->tower_y - c.y;
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return sqrt(ds->arm2 - dx*dx - dy*dy) + c.z;
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}
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struct stepper_kinematics * __visible
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delta_stepper_alloc(double arm2, double tower_x, double tower_y)
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{
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struct delta_stepper *ds = malloc(sizeof(*ds));
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memset(ds, 0, sizeof(*ds));
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ds->arm2 = arm2;
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ds->tower_x = tower_x;
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ds->tower_y = tower_y;
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ds->sk.calc_position_cb = delta_stepper_calc_position;
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ds->sk.active_flags = AF_X | AF_Y | AF_Z;
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return &ds->sk;
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}
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