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

#ifndef RotatableDeltaSolution_H
#define RotatableDeltaSolution_H
#include "libs/Module.h"
#include "BaseSolution.h"

class Config;

class RotatableDeltaSolution : public BaseSolution {
    public:
        RotatableDeltaSolution(Config*);
        void cartesian_to_actuator(const float[], float[] );
        void actuator_to_cartesian(const float[], float[] );

        bool set_optional(const arm_options_t& options);
        bool get_optional(arm_options_t& options);

    private:
        void init();
        int delta_calcAngleYZ(float x0, float y0, float z0, float &theta);
        int delta_calcForward(float theta1, float theta2, float theta3, float &x0, float &y0, float &z0);

        float delta_e;			// End effector length
        float delta_f;			// Base length
        float delta_re;			// Carbon rod length
        float delta_rf;			// Servo horn length
        float delta_z_offset ;		// Distance from delta 8mm rod/pulley to table/bed
			       		// NOTE: For OpenPnP, set the zero to be about 25mm above the bed

        float delta_ee_offs;		// Ball joint plane to bottom of end effector surface
        float tool_offset;		// Distance between end effector ball joint plane and tip of tool
        float z_calc_offset;
};
#endif // RotatableDeltaSolution_H
Commit	Line	Data
ae640576 DP	1	#ifndef RotatableDeltaSolution_H
	2	#define RotatableDeltaSolution_H
	3	#include "libs/Module.h"
	4	#include "BaseSolution.h"
	5
	6	class Config;
	7
	8	class RotatableDeltaSolution : public BaseSolution {
	9	public:
	10	RotatableDeltaSolution(Config*);
3cc3f421 OL	11	void cartesian_to_actuator(const float[], float[] );
3cc3f421 OL	12	void actuator_to_cartesian(const float[], float[] );
ae640576 DP	13
	14	bool set_optional(const arm_options_t& options);
	15	bool get_optional(arm_options_t& options);
	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
17c8300c DP	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
ae640576	31	float z_calc_offset;
ae640576 DP	32	};
ae640576 DP	33	#endif // RotatableDeltaSolution_H