src/modules/robot/ActuatorCoordinates.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #pragma once
   9
  10 #include <array>
  11
  12 #ifndef MAX_ROBOT_ACTUATORS
  13     #ifdef CNC
  14     #define MAX_ROBOT_ACTUATORS 3
  15     #else
  16     // includes 2 extruders
  17     #define MAX_ROBOT_ACTUATORS 5
  18     #endif
  19 #endif
  20
  21 #if MAX_ROBOT_ACTUATORS < 3 || MAX_ROBOT_ACTUATORS > 6
  22 #error "MAX_ROBOT_ACTUATORS must be >= 3 and <= 6"
  23 #endif
  24
  25 #ifndef N_PRIMARY_AXIS
  26     // This may chnage and include ABC
  27     #define N_PRIMARY_AXIS 3
  28 #endif
  29
  30 #if N_PRIMARY_AXIS < 3 || N_PRIMARY_AXIS > MAX_ROBOT_ACTUATORS
  31 #error "N_PRIMARY_AXIS must be >= 3 and <= MAX_ROBOT_ACTUATORS"
  32 #endif
  33
  34 // Keep MAX_ROBOT_ACTUATORS as small as practical it impacts block size and therefore free memory.
  35 const size_t k_max_actuators = MAX_ROBOT_ACTUATORS;
  36 typedef struct std::array<float, k_max_actuators> ActuatorCoordinates;