diff options
Diffstat (limited to 'src/Movement/Kinematics/Kinematics.h')
| -rw-r--r-- | src/Movement/Kinematics/Kinematics.h | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/src/Movement/Kinematics/Kinematics.h b/src/Movement/Kinematics/Kinematics.h index 7cec8338..75f5b327 100644 --- a/src/Movement/Kinematics/Kinematics.h +++ b/src/Movement/Kinematics/Kinematics.h @@ -44,11 +44,11 @@ public: // Set or report the parameters from a M665, M666 or M669 command // If 'mCode' is an M-code used to set parameters for the current kinematics (which should only ever be 665, 666, 667 or 669) - // then search for parameters used to configure the current kinematics. if any are found, perform appropriate actions and return true. + // then search for parameters used to configure the current kinematics. If any are found, perform appropriate actions and return true. // If errors were discovered while processing parameters, put an appropriate error message in 'reply' and set 'error' to true. // If no relevant parameters are found, print the existing ones to 'reply' and return false. - // if 'mCode' does not apply to this kinematics, call the base class version of this function, which will print a suitable error message. - virtual bool SetOrReportParameters(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error); + // If 'mCode' does not apply to this kinematics, call the base class version of this function, which will print a suitable error message. + virtual bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error); // Convert Cartesian coordinates to motor positions measured in steps from reference position // 'machinePos' is a set of axis and extruder positions to convert @@ -56,14 +56,14 @@ public: // 'numAxes' is the number of machine axes to convert, which will always be at least 3 // 'motorPos' is the output vector of motor positions // Return true if successful, false if we were unable to convert - virtual bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numAxes, int32_t motorPos[]) const = 0; + virtual bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[]) const = 0; // Convert motor positions (measured in steps from reference position) to Cartesian coordinates // 'motorPos' is the input vector of motor positions // 'stepsPerMm' is as configured in M92. On a Scara or polar machine this would actually be steps per degree. // 'numDrives' is the number of machine drives to convert, which will always be at least 3 // 'machinePos' is the output set of converted axis and extruder positions - virtual void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numDrives, float machinePos[]) const = 0; + virtual void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const = 0; // Return true if the kinematics supports auto calibration based on bed probing. // Normally returns false, but overridden for delta kinematics. @@ -91,7 +91,7 @@ public: // Limit the Cartesian position that the user wants to move to // The default implementation just applies the rectangular limits set up by M208 to those axes that have been homed. - virtual void LimitPosition(float coords[], size_t numAxes, uint16_t axesHomed) const; + virtual void LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const; // Return the set of axes that must have been homed before bed probing is allowed // The default implementation requires just X and Y, but some kinematics require additional axes to be homed (e.g. delta, CoreXZ) @@ -100,10 +100,16 @@ public: // Return the initial Cartesian coordinates we assume after switching to this kinematics virtual void GetAssumedInitialPosition(size_t numAxes, float positions[]) const; - // Override this one if any axes do not use the line motion (e.g. for segmentation-free delta motion) + // Override this one if any axes do not use the linear motion code (e.g. for segmentation-free delta motion) virtual MotionType GetMotionType(size_t axis) const { return MotionType::linear; } - // Override the virtual destructor if your constructor allocates any dynamic memory + // Override this if the number of homing buttons (excluding the home all button) is not the same as the number of visible axes (e.g. on a delta printer) + virtual size_t NumHomingButtons(size_t numVisibleAxes) const { return numVisibleAxes; } + + // Override this if the homing buttons are not named after the axes (e.g. SCARA printer) + virtual const char* HomingButtonNames() const { return "XYZUVW"; } + + // Override this virtual destructor if your constructor allocates any dynamic memory virtual ~Kinematics() { } // Factory function to create a particular kinematics object and return a pointer to it. |