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1 | #include "HBotSolution.h" |
2 | #include <math.h> | |
3 | ||
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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]; | |
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8 | } |
9 | ||
01cf96fb | 10 | void HBotSolution::actuator_to_cartesian( float actuator_mm[], float cartesian_mm[] ){ |
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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]; | |
bdaaa75d | 14 | } |