src/modules/robot/arm_solutions/HBotSolution.cpp

   1 #include "HBotSolution.h"
   2 #include <math.h>
   3
   4 void HBotSolution::cartesian_to_actuator( float cartesian_mm[], float actuator_mm[] ){
   5     actuator_mm[ALPHA_STEPPER] = cartesian_mm[X_AXIS] + cartesian_mm[Y_AXIS];
   6     actuator_mm[BETA_STEPPER ] = cartesian_mm[X_AXIS] - cartesian_mm[Y_AXIS];
   7     actuator_mm[GAMMA_STEPPER] = cartesian_mm[Z_AXIS];
   8 }
   9
  10 void HBotSolution::actuator_to_cartesian( float actuator_mm[], float cartesian_mm[] ){
  11     cartesian_mm[X_AXIS] = 0.5F * (actuator_mm[ALPHA_STEPPER] + actuator_mm[BETA_STEPPER]);
  12     cartesian_mm[Y_AXIS] = 0.5F * (actuator_mm[ALPHA_STEPPER] - actuator_mm[BETA_STEPPER]);
  13     cartesian_mm[Z_AXIS] = actuator_mm[GAMMA_STEPPER];
  14 }