1 #ifndef RotatableDeltaSolution_H
2 #define RotatableDeltaSolution_H
3 #include "libs/Module.h"
4 #include "BaseSolution.h"
8 class RotatableDeltaSolution
: public BaseSolution
{
10 RotatableDeltaSolution(Config
*);
11 void cartesian_to_actuator(const float[], float[] );
12 void actuator_to_cartesian(const float[], float[] );
14 bool set_optional(const arm_options_t
& options
);
15 bool get_optional(arm_options_t
& options
, bool force_all
);
19 int delta_calcAngleYZ(float x0
, float y0
, float z0
, float &theta
);
20 int delta_calcForward(float theta1
, float theta2
, float theta3
, float &x0
, float &y0
, float &z0
);
22 float delta_e
; // End effector length
23 float delta_f
; // Base length
24 float delta_re
; // Carbon rod length
25 float delta_rf
; // Servo horn length
26 float delta_z_offset
; // Distance from delta 8mm rod/pulley to table/bed
27 // NOTE: For OpenPnP, set the zero to be about 25mm above the bed
29 float delta_ee_offs
; // Ball joint plane to bottom of end effector surface
30 float tool_offset
; // Distance between end effector ball joint plane and tip of tool
33 #endif // RotatableDeltaSolution_H