HCoop / clinton / Smoothieware.git / blame
| Commit | Line | Data |
|---|---|---|
| 2c7ab192 JM |
1 | #ifndef JOHANNKOSSELSOLUTION_H |
| 2 | #define ROSTOCKSOLUTION_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 | ||
| 2c7ab192 JM |
10 | #define arm_length_checksum CHECKSUM("arm_length") |
| 11 | #define arm_radius_checksum CHECKSUM("arm_radius") | |
| 12 | ||
| 13 | class JohannKosselSolution : public BaseSolution { | |
| 14 | public: | |
| 78d0e16a MM |
15 | JohannKosselSolution(Config*); |
| 16 | void cartesian_to_actuator( float[], float[] ); | |
| 17 | void actuator_to_cartesian( float[], float[] ); | |
| 2c7ab192 | 18 | |
| b7cd847e JM |
19 | bool set_optional(const arm_options_t& options); |
| 20 | bool get_optional(arm_options_t& options); | |
| 2c7ab192 | 21 | |
| 10e66797 | 22 | private: |
| ec4773e5 JM |
23 | void init(); |
| 24 | ||
| 2c7ab192 JM |
25 | float arm_length; |
| 26 | float arm_radius; | |
| 27 | float arm_length_squared; | |
| 28 | ||
| 29 | float DELTA_TOWER1_X; | |
| 30 | float DELTA_TOWER1_Y; | |
| 31 | float DELTA_TOWER2_X; | |
| 32 | float DELTA_TOWER2_Y; | |
| 33 | float DELTA_TOWER3_X; | |
| 34 | float DELTA_TOWER3_Y; | |
| 35 | }; | |
| 36 | #endif // JOHANNKOSSELSOLUTION_H |