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

#ifndef HBOTSOLUTION_H
#define HBOTSOLUTION_H
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "BaseSolution.h"
#include "libs/nuts_bolts.h"

#include "libs/Config.h"

#define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
#define beta_steps_per_mm_checksum  CHECKSUM("beta_steps_per_mm")
#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")

class HBotSolution : public BaseSolution {
    public:
        HBotSolution(Config* passed_config);
        void millimeters_to_steps( double millimeters[], int steps[] );
        void steps_to_millimeters( int steps[], double millimeters[] );

        void set_steps_per_millimeter( double steps[] );
        void get_steps_per_millimeter( double steps[] );

        Config* config;
        double alpha_steps_per_mm;
        double beta_steps_per_mm;
        double gamma_steps_per_mm;
};


#endif // HBOTSOLUTION_H
Commit	Line	Data
bdaaa75d L	1	#ifndef HBOTSOLUTION_H
	2	#define HBOTSOLUTION_H
	3	#include "libs/Module.h"
	4	#include "libs/Kernel.h"
	5	#include "BaseSolution.h"
	6	#include "libs/nuts_bolts.h"
	7
	8	#include "libs/Config.h"
	9
	10	#define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
	11	#define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm")
	12	#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
	13
	14	class HBotSolution : public BaseSolution {
	15	public:
	16	HBotSolution(Config* passed_config);
	17	void millimeters_to_steps( double millimeters[], int steps[] );
	18	void steps_to_millimeters( int steps[], double millimeters[] );
	19
	20	void set_steps_per_millimeter( double steps[] );
	21	void get_steps_per_millimeter( double steps[] );
	22
	23	Config* config;
	24	double alpha_steps_per_mm;
	25	double beta_steps_per_mm;
	26	double gamma_steps_per_mm;
	27	};
	28
	29
	30
	31
	32
	33
	34	#endif // HBOTSOLUTION_H
	35