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Diffstat (limited to 'src/Movement/Kinematics/PolarKinematics.h')
| -rw-r--r-- | src/Movement/Kinematics/PolarKinematics.h | 51 |
1 files changed, 51 insertions, 0 deletions
diff --git a/src/Movement/Kinematics/PolarKinematics.h b/src/Movement/Kinematics/PolarKinematics.h new file mode 100644 index 00000000..fe473d9b --- /dev/null +++ b/src/Movement/Kinematics/PolarKinematics.h @@ -0,0 +1,51 @@ +/* + * PolarKinematics.h + * + * Created on: 13 Oct 2017 + * Author: David + */ + +#ifndef SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ +#define SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ + +#include "Kinematics.h" + +class PolarKinematics : public Kinematics +{ +public: + PolarKinematics(); + + // Overridden base class functions. See Kinematics.h for descriptions. + const char *GetName(bool forStatusReport) const override; + bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override; + bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; + void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; + bool IsReachable(float x, float y, bool isCoordinated) const override; + bool LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const override; + void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; + const char* HomingButtonNames() const override { return "RTZUVWABC"; } + HomingMode GetHomingMode() const override { return homeIndividualMotors; } + AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override; + const char* GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, AxesBitmap& mustHomeFirst) const override; + bool QueryTerminateHomingMove(size_t axis) const override; + void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; + +private: + static constexpr float DefaultSegmentsPerSecond = 100.0; + static constexpr float DefaultMinSegmentSize = 0.2; + static constexpr float DefaultMaxRadius = 150.0; + static constexpr float DefaultMaxTurntableSpeed = 30.0; // degrees per second + static constexpr float DefaultMaxTurntableAcceleration = 30.0; // degrees per second per second + static constexpr const char *HomeRadiusFileName = "homeradius.g"; + static constexpr const char *HomeBedFileName = "homebed.g"; + + void Recalc(); + + float minRadius, maxRadius, homedRadius; + float maxTurntableSpeed, maxTurntableAcceleration; + + float minRadiusSquared, maxRadiusSquared; +}; + +#endif /* SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ */ |