src/modules/robot/arm_solutions/RotaryDeltaSolution.h

   1 #ifndef RotaryDeltaSolution_H
   2 #define RotaryDeltaSolution_H
   3 #include "libs/Module.h"
   4 #include "BaseSolution.h"
   5
   6 class Config;
   7
   8 class RotaryDeltaSolution : public BaseSolution {
   9     public:
  10         RotaryDeltaSolution(Config*);
  11         void cartesian_to_actuator(const float[], ActuatorCoordinates &) override;
  12         void actuator_to_cartesian(const ActuatorCoordinates &, float[] ) override;
  13
  14         bool set_optional(const arm_options_t& options) override;
  15         bool get_optional(arm_options_t& options, bool force_all) override;
  16
  17     private:
  18         void init();
  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);
  21
  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
  28
  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
  31         float z_calc_offset;
  32
  33         struct {
  34             bool debug_flag:1;
  35             bool mirror_xy:1;
  36         };
  37 };
  38 #endif // RotaryDeltaSolution_H