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