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/*
* CartesianKinematics.cpp
*
* Created on: 6 May 2017
* Author: David
*/
#include "CartesianKinematics.h"
#include "Movement/DDA.h"
CartesianKinematics::CartesianKinematics() : ZLeadscrewKinematics(KinematicsType::cartesian)
{
}
// Return the name of the current kinematics
const char *CartesianKinematics::GetName(bool forStatusReport) const
{
return (forStatusReport) ? "cartesian" : "Cartesian";
}
// Convert Cartesian coordinates to motor coordinates
bool CartesianKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const
{
for (size_t axis = 0; axis < numVisibleAxes; ++axis)
{
motorPos[axis] = lrintf(machinePos[axis] * stepsPerMm[axis]);
}
return true;
}
// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves.
void CartesianKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const
{
// Convert all axes
for (size_t drive = 0; drive < numVisibleAxes; ++drive)
{
machinePos[drive] = motorPos[drive]/stepsPerMm[drive];
}
}
// This function is called from the step ISR when an endstop switch is triggered during homing.
// Return true if the entire homing move should be terminated, false if only the motor associated with the endstop switch should be stopped.
bool CartesianKinematics::QueryTerminateHomingMove(size_t axis) const
{
return false;
}
// This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors.
// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false.
void CartesianKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const
{
const float hitPoint = (highEnd) ? reprap.GetPlatform().AxisMaximum(axis) : reprap.GetPlatform().AxisMinimum(axis);
dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis);
}
// Limit the speed and acceleration of a move to values that the mechanics can handle.
// The speeds in Cartesian space have already been limited.
void CartesianKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const
{
// The axes of a Cartesian printer move independently, so there is nothing to do here
}
// End
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