#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, double value);
- bool get_optional(char parameter, double *value);
+ bool set_optional(char parameter, float value);
+ bool get_optional(char parameter, float *value);
private:
void init();
- Config* config;
- float alpha_steps_per_mm;
- float beta_steps_per_mm;
- float gamma_steps_per_mm;
-
float arm_length;
float arm_radius;
float arm_length_squared;