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/*
* CoreBaseKinematics.h
*
* Created on: 7 May 2017
* Author: David
*/
#ifndef SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_
#define SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_
#include "Kinematics.h"
class CoreBaseKinematics : public Kinematics
{
public:
CoreBaseKinematics(KinematicsType t);
// Overridden base class functions. See Kinematics.h for descriptions.
bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[]) const override final;
bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override final;
bool SupportsAutoCalibration() const override final { return false; }
protected:
// Calculate the movement fraction for a single axis motor of a Cartesian-like printer.
// The default implementation just returns directionVector[drive] but this needs to be overridden for CoreXY and CoreXZ printers.
virtual float MotorFactor(size_t drive, const float directionVector[]) const = 0;
float axisFactors[XYZ_AXES];
};
#endif /* SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_ */
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