src/modules/robot/ActuatorCoordinates.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef ACTUATOR_COORDINATES_H
   9 #define ACTUATOR_COORDINATES_H
  10 #include <array>
  11
  12 #ifndef MAX_ROBOT_ACTUATORS
  13 #define MAX_ROBOT_ACTUATORS 3
  14 #endif
  15
  16 //The subset in use is determined by the arm solution's get_actuator_count().
  17 //Keep MAX_ROBOT_ACTUATORS as small as practical it impacts block size and therefore free memory.
  18 const size_t k_max_actuators = MAX_ROBOT_ACTUATORS;
  19 typedef struct std::array<float, k_max_actuators> ActuatorCoordinates;
  20
  21 #endif