Merge pull request #353 from wolfmanjm/cleanup/headers

[clinton/Smoothieware.git] / src / modules / robot / arm_solutions / JohannKosselSolution.h

diff --git a/src/modules/robot/arm_solutions/JohannKosselSolution.h b/src/modules/robot/arm_solutions/JohannKosselSolution.h
index f726191..28cdd34 100644 (file)
--- a/src/modules/robot/arm_solutions/JohannKosselSolution.h
+++ b/src/modules/robot/arm_solutions/JohannKosselSolution.h
@@ -7,26 +7,20 @@
 
 #include "libs/Config.h"
 
-#define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
-#define beta_steps_per_mm_checksum  CHECKSUM("beta_steps_per_mm")
-#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
-
 #define arm_length_checksum         CHECKSUM("arm_length")
 #define arm_radius_checksum         CHECKSUM("arm_radius")
 
 class JohannKosselSolution : public BaseSolution {
     public:
-        JohannKosselSolution(Config* passed_config);
-        void millimeters_to_steps( double millimeters[], int steps[] );
-        void steps_to_millimeters( int steps[], double millimeters[] ); 
+        JohannKosselSolution(Config*);
+        void cartesian_to_actuator( float[], float[] );
+        void actuator_to_cartesian( float[], float[] );
 
-        void set_steps_per_millimeter( double steps[] );
-        void get_steps_per_millimeter( double steps[] );
+        bool set_optional(char parameter, float value);
+        bool get_optional(char parameter, float *value);
 
-        Config* config;
-        float alpha_steps_per_mm;
-        float beta_steps_per_mm;
-        float gamma_steps_per_mm;
+    private:
+        void init();
 
         float arm_length;
         float arm_radius;