diff options
Diffstat (limited to 'src/Movement/Kinematics/ScaraKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/ScaraKinematics.cpp | 22 |
1 files changed, 21 insertions, 1 deletions
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp index f9b67772..8dbd5845 100644 --- a/src/Movement/Kinematics/ScaraKinematics.cpp +++ b/src/Movement/Kinematics/ScaraKinematics.cpp @@ -170,8 +170,9 @@ bool ScaraKinematics::IsReachable(float x, float y) const // Limit the Cartesian position that the user wants to move to // TODO take account of arm angle limits -void ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const +bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const { + bool limited = false; float& x = coords[X_AXIS]; float& y = coords[Y_AXIS]; const float r = sqrtf(fsquare(x) + fsquare(y)); @@ -179,12 +180,15 @@ void ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint1 { x *= minRadius/r; y *= minRadius/r; + limited = true; } else if (r > maxRadius) { x *= maxRadius/r; y *= maxRadius/r; + limited = true; } + return limited; } // Return the initial Cartesian coordinates we assume after switching to this kinematics @@ -197,6 +201,22 @@ void ScaraKinematics::GetAssumedInitialPosition(size_t numAxes, float positions[ } } +// Return true if the specified endstop axis uses shared motors. +// Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. +bool ScaraKinematics::DriveIsShared(size_t drive) const +{ + switch (drive) + { + case X_AXIS: + return crosstalk[0] != 0.0 || crosstalk[1] != 0.0; + case Y_AXIS: + return crosstalk[2] != 0.0; + case Z_AXIS: + default: + return false; + } +} + // Recalculate the derived parameters void ScaraKinematics::Recalc() { |