HCoop / clinton / Smoothieware.git / blame
| Commit | Line | Data |
|---|---|---|
| 4e04bcd3 L |
1 | #ifndef ROSTOCKSOLUTION_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 | ||
| deee97d2 L |
10 | #define arm_length_checksum CHECKSUM("arm_length") |
| 11 | #define arm_radius_checksum CHECKSUM("arm_radius") | |
| 12 | ||
| 33bb9d9a L |
13 | #define alpha_angle_checksum CHECKSUM("alpha_angle") |
| 14 | #define beta_relative_angle_checksum CHECKSUM("beta_relative_angle") | |
| 15 | #define gamma_relative_angle_checksum CHECKSUM("gamma_relative_angle") | |
| 4e04bcd3 L |
16 | |
| 17 | class RostockSolution : public BaseSolution { | |
| 18 | public: | |
| 78d0e16a MM |
19 | RostockSolution(Config*); |
| 20 | void cartesian_to_actuator( float[], float[] ); | |
| 21 | void actuator_to_cartesian( float[], float[] ); | |
| 4e04bcd3 | 22 | |
| 21461a92 JM |
23 | float solve_arm( float millimeters[] ); |
| 24 | void rotate( float in[], float out[], float sin, float cos ); | |
| 4e04bcd3 | 25 | |
| 21461a92 JM |
26 | float arm_length; |
| 27 | float arm_radius; | |
| 28 | float arm_length_squared; | |
| 29 | ||
| 30 | float sin_alpha; | |
| 31 | float cos_alpha; | |
| 32 | float sin_beta; | |
| 33 | float cos_beta; | |
| 34 | float sin_gamma; | |
| 35 | float cos_gamma; | |
| 4e04bcd3 L |
36 | }; |
| 37 | ||
| 38 | ||
| 39 | ||
| 40 | ||
| 41 | ||
| 42 | ||
| 43 | #endif // ROSTOCKSOLUTION_H |