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1 | #include "CartesianSolution.h" |
2 | #include <math.h> | |
3 | ||
4 | CartesianSolution::CartesianSolution(Config* passed_config) : config(passed_config){ | |
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5 | this->alpha_steps_per_mm = this->config->value(alpha_steps_per_mm_checksum)->as_number(); |
6 | this->beta_steps_per_mm = this->config->value( beta_steps_per_mm_checksum)->as_number(); | |
7 | this->gamma_steps_per_mm = this->config->value(gamma_steps_per_mm_checksum)->as_number(); | |
4cff3ded AW |
8 | } |
9 | ||
10 | void CartesianSolution::millimeters_to_steps( double millimeters[], int steps[] ){ | |
11 | steps[ALPHA_STEPPER] = lround( millimeters[X_AXIS] * this->alpha_steps_per_mm ); | |
12 | steps[BETA_STEPPER ] = lround( millimeters[Y_AXIS] * this->beta_steps_per_mm ); | |
13 | steps[GAMMA_STEPPER] = lround( millimeters[Z_AXIS] * this->gamma_steps_per_mm ); | |
14 | } | |
15 | ||
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16 | void CartesianSolution::steps_to_millimeters( int steps[], double millimeters[] ){ |
17 | millimeters[ALPHA_STEPPER] = steps[X_AXIS] / this->alpha_steps_per_mm; | |
18 | millimeters[BETA_STEPPER ] = steps[Y_AXIS] / this->beta_steps_per_mm; | |
19 | millimeters[GAMMA_STEPPER] = steps[X_AXIS] / this->gamma_steps_per_mm; | |
20 | } |