src/modules/robot/arm_solutions/CartesianSolution.cpp

   1 #include "CartesianSolution.h"
   2 #include <math.h>
   3
   4 CartesianSolution::CartesianSolution(Config* passed_config) : config(passed_config){
   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();
   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
  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[Z_AXIS] / this->gamma_steps_per_mm;
  20 }
  21
  22 void CartesianSolution::set_steps_per_millimeter( double steps[] )
  23 {
  24     this->alpha_steps_per_mm = steps[0];
  25     this->beta_steps_per_mm  = steps[1];
  26     this->gamma_steps_per_mm = steps[2];
  27 }
  28
  29 void CartesianSolution::get_steps_per_millimeter( double steps[] )
  30 {
  31     steps[0] = this->alpha_steps_per_mm;
  32     steps[1] = this->beta_steps_per_mm;
  33     steps[2] = this->gamma_steps_per_mm;
  34 }