I'm modifying my delta printer to include what are essentially extra linear axes, but I've run into some trouble understanding some of the delta kinematics class. What exactly is LinearDeltaKinematics::ComputeDerivative doing, and what is it used for? I don't see where it is called, and other kinematics classes don't use this function.
The ComputeDerivative function is used for auto calibration, so unless your extra axis will take part in auto calibration you don't need to change it. It is called from LinearDeltaKinematics::DoAutoCalibration.
@dc42 Thanks! I commented it out for the time being, and nothing crashed, so I figured it was fine. I had already removed the auto calibration, so that makes sense why I couldn't find it.