src/modules/robot/arm_solutions/RotatableCartesianSolution.h

   1 #ifndef ROTATABLECARTESIANSOLUTION_H
   2 #define ROTATABLECARTESIANSOLUTION_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 CHECKSUM("alpha_steps_per_mm")
  11 #define beta_steps_per_mm_checksum  CHECKSUM("beta_steps_per_mm")
  12 #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
  13
  14 #define alpha_angle_checksum        CHECKSUM("alpha_angle")
  15
  16 class RotatableCartesianSolution : public BaseSolution {
  17     public:
  18         RotatableCartesianSolution(Config* passed_config);
  19         void millimeters_to_steps( double millimeters[], int steps[] );
  20         void steps_to_millimeters( int steps[], double millimeters[] );
  21
  22         void set_steps_per_millimeter( double steps[] );
  23         void get_steps_per_millimeter( double steps[] );
  24
  25         void rotate( double in[], double out[], double sin, double cos );
  26
  27         Config* config;
  28         double alpha_steps_per_mm;
  29         double beta_steps_per_mm;
  30         double gamma_steps_per_mm;
  31
  32         double sin_alpha;
  33         double cos_alpha;
  34 };
  35
  36
  37 #endif // ROTATABLECARTESIANSOLUTION_H
  38