I want to use the benefits of the klipper3d software.
https://www.klipper3d.org/Code_Overview.htmlhttps://github.com/Klipper3d
I'm using a Manta m8p board with TMC2209.I do not have a 3D printer, so there is no extruder or heating.
There is a CB1 on the PCB (like a Raspberry). It communicates with a serial bus with an ARM on the main printer PCB. This receives the move commands and sends them to the stepper drivers.
What I understood so far:
- I create a kinematic for my own "printer" logic
- Klipper creates a toolhead object. If I am right, the toolhead class uses the g_codes from a file input made by a slicer.
Now these g_codes are send to the gcode class to dispatch them into bits, that will be send to the MCU.
OK; now I have a UDP data input from a network client.
From this data input, I want to move steppers independently.How do I start, what do I need to change in the existing Klipper code?I don't like to implement the whole SPI connection with the right implementation for TMC2209 UART communication.I like to keep the main Klipper parts for these cases because I haven't really figured out how Klipper decides how to communicate with the MCU for UART commands or else.
I wrote a class that handles the incoming UDP data.set up the logic to create commands for different steppers.The class has position, speed and acceleration logic.From here, I need to create the move commands. First, I thought I have to create g_code but g code is xyz e and I don't have axis like a printer. My steppers should run to a position with a speed for every single stepper.
Or is there an easier way, for example write a new firmware?