rotary_delta: Initial support for rotary delta kinematics

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

test/klippy/printers.test

@@ -6,6 +6,7 @@ DICTIONARY atmega2560.dict
 CONFIG ../../config/example.cfg
 CONFIG ../../config/example-corexy.cfg
 CONFIG ../../config/example-delta.cfg
+CONFIG ../../config/example-rotary-delta.cfg
 CONFIG ../../config/example-winch.cfg
 
 # Printers using the atmega2560

test/klippy/rotary_delta_calibrate.cfg

@@ -0,0 +1,78 @@
+# Test config for the DELTA_CALIBRATE command (on rotary delta robots)
+[stepper_a]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: 0.000010
+endstop_pin: ^ar2
+homing_speed: 50
+#position_endstop: 252
+upper_arm_length: 170.000
+lower_arm_length: 320.000
+
+[stepper_b]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: 0.000010
+endstop_pin: ^ar15
+
+[stepper_c]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: 0.000010
+endstop_pin: ^ar19
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: rotary_delta
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 50
+#shoulder_radius: 33.900
+#shoulder_height: 412.900
+
+[delta_calibrate]
+radius: 50
+
+#*# <---------------------- SAVE_CONFIG ---------------------->
+#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
+#*#
+#*# [printer]
+#*# shoulder_radius = 33.900000
+#*# shoulder_height = 412.900000
+#*#
+#*# [stepper_a]
+#*# angle = 30.000000
+#*# lower_arm = 320.000011
+#*# position_endstop = 251.999999
+#*#
+#*# [stepper_b]
+#*# angle = 150.000000
+#*# lower_arm = 320.000000
+#*# position_endstop = 251.999973
+#*#
+#*# [stepper_c]
+#*# angle = 270.000000
+#*# lower_arm = 319.999985
+#*# position_endstop = 251.999902
+#*#
+#*# [delta_calibrate]
+#*# height0 = 0.0
+#*# height0_pos = 162606.000,162606.000,162605.000
+#*# height1 = 0.0
+#*# height1_pos = 157814.000,157814.000,177775.000
+#*# height2 = 0.0
+#*# height2_pos = 170956.000,151002.000,170956.000
+#*# height3 = 0.0
+#*# height3_pos = 176042.000,158122.000,158122.000
+#*# height4 = 0.0
+#*# height4_pos = 168774.000,168774.000,153337.000
+#*# height5 = 0.0
+#*# height5_pos = 158477.000,174341.000,158477.000
+#*# height6 = 0.0
+#*# height6_pos = 152152.000,169841.000,169841.000

test/klippy/rotary_delta_calibrate.test

@@ -0,0 +1,32 @@
+# Test case for basic movement on delta printers
+CONFIG rotary_delta_calibrate.cfg
+DICTIONARY atmega2560.dict
+
+# Start by homing the printer.
+G28
+
+# Run basic delta calibration (in manual mode)
+DELTA_ANALYZE MANUAL_HEIGHT=252
+DELTA_CALIBRATE METHOD=manual
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+G1 Z0.1
+ACCEPT
+
+# Run extended delta calibration
+DELTA_ANALYZE CENTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE OUTER_DISTS=74,74,74,74,74,74
+DELTA_ANALYZE CENTER_PILLAR_WIDTHS=9,9,9
+DELTA_ANALYZE OUTER_PILLAR_WIDTHS=9,9,9,9,9,9
+DELTA_ANALYZE SCALE=1
+DELTA_ANALYZE CALIBRATE=extended