[clinton/Smoothieware.git] / src / modules / robot / arm_solutions / MorganSCARASolution.h

#ifndef MORGANSCARASOLUTION_H
#define MORGANSCARASOLUTION_H
//#include "libs/Module.h"
#include "BaseSolution.h"

class Config;

class MorganSCARASolution : public BaseSolution {
    public:
        MorganSCARASolution(Config*);
        void cartesian_to_actuator(const float[], float[] );
        void actuator_to_cartesian(const float[], float[] );

        bool set_optional(const arm_options_t& options);
        bool get_optional(arm_options_t& options, bool force_all);

    private:
        void init();
        float to_degrees(float radians);

        float arm1_length;
        float arm2_length;
        float morgan_offset_x;
        float morgan_offset_y;
        float morgan_scaling_x;
        float morgan_scaling_y;
        float morgan_undefined_min;
        float morgan_undefined_max;
        float slow_rate;
};

#endif // MORGANSCARASOLUTION_H
Commit	Line	Data
1217e470 QH	1	#ifndef MORGANSCARASOLUTION_H
	2	#define MORGANSCARASOLUTION_H
	3	//#include "libs/Module.h"
	4	#include "BaseSolution.h"
	5
	6	class Config;
	7
	8	class MorganSCARASolution : public BaseSolution {
	9	public:
	10	MorganSCARASolution(Config*);
3cc3f421 OL	11	void cartesian_to_actuator(const float[], float[] );
3cc3f421 OL	12	void actuator_to_cartesian(const float[], float[] );
1217e470 QH	13
1217e470 QH	14	bool set_optional(const arm_options_t& options);
51e6a11d	15	bool get_optional(arm_options_t& options, bool force_all);
1217e470 QH	16
	17	private:
	18	void init();
	19	float to_degrees(float radians);
	20
	21	float arm1_length;
	22	float arm2_length;
	23	float morgan_offset_x;
	24	float morgan_offset_y;
983e6549 QH	25	float morgan_scaling_x;
983e6549 QH	26	float morgan_scaling_y;
2490d558 QH	27	float morgan_undefined_min;
2490d558 QH	28	float morgan_undefined_max;
1217e470 QH	29	float slow_rate;
	30	};
	31
	32	#endif // MORGANSCARASOLUTION_H