blob: 47a867b0f96d755714e4db71251a9b1702547984 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
|
/*
* CoreXYUKinematics.h
*
* Created on: 4 Jun 2017
* Author: Lars
*/
#ifndef SRC_MOVEMENT_KINEMATICS_COREXYUKINEMATICS_H_
#define SRC_MOVEMENT_KINEMATICS_COREXYUKINEMATICS_H_
#include "CoreBaseKinematics.h"
class CoreXYUKinematics : public CoreBaseKinematics
{
public:
CoreXYUKinematics();
// Overridden base class functions. See Kinematics.h for descriptions.
const char *GetName(bool forStatusReport) const override;
bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override;
bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override;
void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override;
bool DriveIsShared(size_t drive) const override;
void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override;
};
#endif /* SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ */
|
