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Kevin O'Connor 9c932ad514 delta: Rework delta math to avoid using inv_movexy_r 
Taking the inverse of the XY move distance can lead to extremely large
values when the XY distance is very small.  This can lead to
saturation of the double precision variables and incorrect results.

Rework the delta kinematic math to avoid using this inverse.  Pass the
closestxy_d value directly to the C functions so that the C code can
calculate its intermediate constants.

After this change the move_z special case is no longer necessary as
the regular delta functions now work with movexy_r=0 and movez_r=1.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
 		2016-12-05 14:36:02 -05:00
config config: Update avrsim.cfg with recent config file changes 2016-12-02 16:21:23 -05:00
docs docs: Minor updates to wording of some documents 2016-12-01 10:21:36 -05:00
klippy delta: Rework delta math to avoid using inv_movexy_r 2016-12-05 14:36:02 -05:00
lib lib: Add Atmel SAM3x8e ARM CMSIS files 2016-06-14 14:25:42 -04:00
scripts stepstats: Update stepstats script with change in dir_pin meaning 2016-12-01 18:16:18 -05:00
src stepper: Reset the next step time on a stepper stop 2016-11-14 13:10:14 -05:00
.gitignore Initial commit of source code. 2016-05-25 11:37:40 -04:00
COPYING Initial commit of source code. 2016-05-25 11:37:40 -04:00
Makefile build: Be sure to also include out/*.d files in Makefile 2016-10-21 12:00:03 -04:00
README.md Initial commit of source code. 2016-05-25 11:37:40 -04:00

README.md

Welcome to the Klipper project!

This project implements a 3d-printer firmware. There are two parts to this firmware - code that runs on a micro-controller and code that runs on a host machine. The host software does the work to build a schedule of events, while the micro-controller software does the work to execute the provided schedule at the specified times.

Please see the documentation for more information on running and working with Klipper.

License

Klipper is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

Klipper is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with Klipper. If not, see http://www.gnu.org/licenses/.