Merge pull request #1294 from wolfmanjm/upstreamedge

[clinton/Smoothieware.git] / src / modules / robot / ActuatorCoordinates.h

diff --git a/src/modules/robot/ActuatorCoordinates.h b/src/modules/robot/ActuatorCoordinates.h
index 03c0e82..c2a9594 100644 (file)
--- a/src/modules/robot/ActuatorCoordinates.h
+++ b/src/modules/robot/ActuatorCoordinates.h
@@ -18,6 +18,19 @@
     #endif
 #endif
 
+#if MAX_ROBOT_ACTUATORS < 3 || MAX_ROBOT_ACTUATORS > 6
+#error "MAX_ROBOT_ACTUATORS must be >= 3 and <= 6"
+#endif
+
+#ifndef N_PRIMARY_AXIS
+    // This may chnage and include ABC
+    #define N_PRIMARY_AXIS 3
+#endif
+
+#if N_PRIMARY_AXIS < 3 || N_PRIMARY_AXIS > MAX_ROBOT_ACTUATORS
+#error "N_PRIMARY_AXIS must be >= 3 and <= MAX_ROBOT_ACTUATORS"
+#endif
+
 // Keep MAX_ROBOT_ACTUATORS as small as practical it impacts block size and therefore free memory.
 const size_t k_max_actuators = MAX_ROBOT_ACTUATORS;
 typedef struct std::array<float, k_max_actuators> ActuatorCoordinates;