src/modules/robot/arm_solutions/CartesianSolution.h

   1 #ifndef CARTESIANSOLUTION_H
   2 #define CARTESIANSOLUTION_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
  10 #define alpha_steps_per_mm_checksum 46458
  11 #define beta_steps_per_mm_checksum  13840
  12 #define gamma_steps_per_mm_checksum 33143
  13
  14 class CartesianSolution : public BaseSolution {
  15     public:
  16         CartesianSolution(Config* passed_config);
  17         void millimeters_to_steps( double millimeters[], int steps[] );
  18         void steps_to_millimeters( int steps[], double millimeters[] );
  19
  20         Config* config;
  21         double alpha_steps_per_mm;
  22         double beta_steps_per_mm;
  23         double gamma_steps_per_mm;
  24 };
  25
  26
  27
  28
  29
  30
  31 #endif