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/*
* 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 allowModeChange) 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;
};
#endif /* SRC_MOVEMENT_KINEMATICS_COREXYKINEMATICS_H_ */
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