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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 Cartesian coordinates to motor coordinates
bool CoreXZKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const
{
motorPos[X_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) + (machinePos[Z_AXIS] * axisFactors[Z_AXIS])) * stepsPerMm[X_AXIS]);
motorPos[Y_AXIS] = lrintf(machinePos[Y_AXIS] * stepsPerMm[Y_AXIS]);
motorPos[Z_AXIS] = lrintf(((machinePos[X_AXIS] * axisFactors[X_AXIS]) - (machinePos[Z_AXIS] * axisFactors[Z_AXIS])) * stepsPerMm[Z_AXIS]);
for (size_t axis = XYZ_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 CoreXZKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const
{
// Convert the main axes
const float xzStepsMmm = stepsPerMm[X_AXIS] * stepsPerMm[Z_AXIS];
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerMm[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerMm[X_AXIS]))
/(2 * axisFactors[X_AXIS] * xzStepsMmm);
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] * xzStepsMmm);
// Convert any additional axes linearly
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 CoreXZKinematics::DriveIsShared(size_t drive) const
{
return drive == X_AXIS || drive == Z_AXIS;
}
// Limit the speed and acceleration of a move to values that the mechanics can handle.
// The speeds in Cartesian space have already been limited.
void CoreXZKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const
{
// Ideally we would do something here, but for now we don't.
// This could mean that a simultaneous X and Z movement with Z at maximum speed up and X at 3x that speed would be under-powered,
// but the workaround in that case would be just to lower the maximum Z speed a little, which won't affect printing speed significantly.
}
// End
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