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/*
* CoreXYUKinematics.cpp
*
* Created on: 4 Jun 2017
* Author: Lars
*/
#include "CoreXYUKinematics.h"
#include "GCodes/GCodes.h"
const size_t CoreXYU_AXES = 5;
const size_t U_AXIS = 3; // X2
const size_t V_AXIS = 4; // Y2
CoreXYUKinematics::CoreXYUKinematics() : CoreBaseKinematics(KinematicsType::coreXYU)
{
}
// Return the name of the current kinematics
const char *CoreXYUKinematics::GetName(bool forStatusReport) const
{
return (forStatusReport) ? "coreXYU" : "CoreXYU";
}
// Set the parameters from a M665, M666 or M669 command
// Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone.
// This function is used for CoreXY and CoreXZ kinematics, but it overridden for CoreXYU kinematics
bool CoreXYUKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) /*override*/
{
if (mCode == 669)
{
bool seen = false;
for (size_t axis = 0; axis < CoreXYU_AXES; ++axis)
{
if (gb.Seen(GCodes::axisLetters[axis]))
{
axisFactors[axis] = gb.GetFValue();
seen = true;
}
}
if (!seen && !gb.Seen('S'))
{
reply.printf("Printer mode is %s with axis factors", GetName(false));
for (size_t axis = 0; axis < CoreXYU_AXES; ++axis)
{
reply.catf(" %c:%f", GCodes::axisLetters[axis], (double)axisFactors[axis]);
}
}
return seen;
}
else
{
return CoreBaseKinematics::Configure(mCode, gb, reply, error);
}
}
// Convert Cartesian coordinates to motor coordinates
bool CoreXYUKinematics::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]);
motorPos[Z_AXIS] = lrintf(machinePos[Z_AXIS] * stepsPerMm[Z_AXIS]);
motorPos[U_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) + (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[U_AXIS]);
motorPos[V_AXIS] = lrintf(((machinePos[U_AXIS] * axisFactors[U_AXIS]) - (machinePos[Y_AXIS] * axisFactors[Y_AXIS])) * stepsPerMm[V_AXIS]);
for (size_t axis = CoreXYU_AXES; 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 CoreXYUKinematics::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];
const float uvStepsMm = stepsPerMm[U_AXIS] * stepsPerMm[V_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[U_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) + (motorPos[V_AXIS] * stepsPerMm[U_AXIS]))
/(2 * axisFactors[V_AXIS] * uvStepsMm);
machinePos[V_AXIS] = ((motorPos[U_AXIS] * stepsPerMm[V_AXIS]) - (motorPos[V_AXIS] * stepsPerMm[U_AXIS]))
/(2 * axisFactors[V_AXIS] * uvStepsMm);
machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerMm[Z_AXIS];
// Convert any additional axes
for (size_t drive = CoreXYU_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 CoreXYUKinematics::DriveIsShared(size_t drive) const
{
return drive == X_AXIS || drive == Y_AXIS || drive == U_AXIS
|| drive == V_AXIS; // V doesn't have endstop switches, but include it here just in case
}
// End
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