src/modules/robot/arm_solutions/CartesianSolution.cpp

   1 #include "CartesianSolution.h"
   2 #include <math.h>
   3
   4 void CartesianSolution::cartesian_to_actuator( float millimeters[], float steps[] ){
   5     steps[ALPHA_STEPPER] = millimeters[X_AXIS];
   6     steps[BETA_STEPPER ] = millimeters[Y_AXIS];
   7     steps[GAMMA_STEPPER] = millimeters[Z_AXIS];
   8 }
   9
  10 void CartesianSolution::actuator_to_cartesian( float steps[], float millimeters[] ){
  11     millimeters[ALPHA_STEPPER] = steps[X_AXIS];
  12     millimeters[BETA_STEPPER ] = steps[Y_AXIS];
  13     millimeters[GAMMA_STEPPER] = steps[Z_AXIS];
  14 }