mirror of https://github.com/Desuuuu/klipper.git
50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
#ifndef ITERSOLVE_H
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#define ITERSOLVE_H
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#include <stdint.h> // uint32_t
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struct coord {
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double x, y, z;
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};
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struct move_accel {
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double c1, c2;
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};
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struct move {
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double print_time, move_t;
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double accel_t, cruise_t;
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double cruise_start_d, decel_start_d;
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double cruise_v;
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struct move_accel accel, decel;
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struct coord start_pos, axes_r;
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};
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struct move *move_alloc(void);
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void move_fill(struct move *m, double print_time
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, double accel_t, double cruise_t, double decel_t
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, double start_pos_x, double start_pos_y, double start_pos_z
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, double axes_d_x, double axes_d_y, double axes_d_z
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, double start_v, double cruise_v, double accel);
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double move_get_distance(struct move *m, double move_time);
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struct coord move_get_coord(struct move *m, double move_time);
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struct stepper_kinematics;
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typedef double (*sk_callback)(struct stepper_kinematics *sk, struct move *m
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, double move_time);
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struct stepper_kinematics {
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double step_dist, commanded_pos;
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struct stepcompress *sc;
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sk_callback calc_position;
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};
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int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
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void itersolve_set_stepcompress(struct stepper_kinematics *sk
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, struct stepcompress *sc, double step_dist);
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double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
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, double x, double y, double z);
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void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
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double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
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#endif // itersolve.h
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