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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 Cartesian coordinates to motor coordinates returning true if successful
bool CoreXYKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const
{
motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[X_AXIS]);
motorPos[Y_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[Y_AXIS]);
for (size_t axis = Z_AXIS; 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 CoreXYKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const
{
// Convert the main axes
const float xyStepsMm = stepsPerMm[X_AXIS] * stepsPerMm[Y_AXIS];
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerMm[X_AXIS]))
/(2 * axisFactors[X_AXIS] * xyStepsMm);
machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerMm[X_AXIS]))
/(2 * axisFactors[Y_AXIS] * xyStepsMm);
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;
}
// End
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