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/*
* CoreXYKinematics.cpp
*
* Created on: 6 May 2017
* Author: David
*/
#include "CoreXYKinematics.h"
CoreXYKinematics::CoreXYKinematics() : CoreBaseKinematics(KinematicsType::coreXY)
{
}
// Return the name of the current kinematics
const char *CoreXYKinematics::GetName(bool forStatusReport) const
{
return (forStatusReport) ? "coreXY" : "CoreXY";
}
// Convert motor coordinates to machine coordinates. Used after homing and after individual motor moves.
void CoreXYKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const
{
// Convert the axes
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerMm[X_AXIS]))
/(2 * axisFactors[X_AXIS] * stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS]);
machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerMm[X_AXIS]))
/(2 * axisFactors[Y_AXIS] * stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS]);
machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerMm[Z_AXIS];
// Convert any additional axes
for (size_t drive = XYZ_AXES; drive < numVisibleAxes; ++drive)
{
machinePos[drive] = motorPos[drive]/stepsPerMm[drive];
}
}
// 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 CoreXYKinematics::DriveIsShared(size_t drive) const
{
return drive == X_AXIS || drive == Y_AXIS;
}
// Calculate the movement fraction for a single axis motor
float CoreXYKinematics::MotorFactor(size_t drive, const float directionVector[]) const
{
switch(drive)
{
case X_AXIS:
return (directionVector[X_AXIS] * axisFactors[X_AXIS]) + (directionVector[Y_AXIS] * axisFactors[Y_AXIS]);
case Y_AXIS:
return (directionVector[Y_AXIS] * axisFactors[Y_AXIS]) - (directionVector[X_AXIS] * axisFactors[X_AXIS]);
default:
return directionVector[drive];
}
}
// End
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