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/*
* Kinematics.cpp
*
* Created on: 24 Apr 2017
* Author: David
*/
#include <Movement/Kinematics/LinearDeltaKinematics.h>
#include "Kinematics.h"
#include "CartesianKinematics.h"
#include "CoreXYKinematics.h"
#include "CoreXZKinematics.h"
#include "ScaraKinematics.h"
#include "RepRap.h"
#include "Platform.h"
// Constructor for non-segmented kinematics
Kinematics::Kinematics(KinematicsType t)
: useSegmentation(false), useRawG0(true), type(t)
{
}
// Constructor for segmented kinematics
Kinematics::Kinematics(KinematicsType t, float segsPerSecond, float minSegLength, bool doUseRawG0)
: segmentsPerSecond(segsPerSecond), minSegmentLength(minSegLength), useSegmentation(true), useRawG0(doUseRawG0), type(t)
{
}
// Set or report the parameters from a M665, M666 or M669 command
// This is the fallback function for when the derived class doesn't use the specified M-code
bool Kinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error)
{
reply.printf("M%u parameters do not apply to %s kinematics", mCode, GetName());
error = true;
return false;
}
// Return true if the specified XY position is reachable by the print head reference point.
// This default implementation assumes a rectangular reachable area, so it just uses the bed dimensions give in the M280 command.
bool Kinematics::IsReachable(float x, float y) const
{
const Platform& platform = reprap.GetPlatform();
return x >= platform.AxisMinimum(X_AXIS) && y >= platform.AxisMinimum(Y_AXIS) && x <= platform.AxisMaximum(X_AXIS) && y <= platform.AxisMaximum(Y_AXIS);
}
// Limit the Cartesian position that the user wants to move to
// This default implementation just applies the rectangular limits set up by M208 to those axes that have been homed.
void Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const
{
const Platform& platform = reprap.GetPlatform();
for (size_t axis = 0; axis < numVisibleAxes; axis++)
{
if ((axesHomed & (1 << axis)) != 0)
{
float& f = coords[axis];
if (f < platform.AxisMinimum(axis))
{
f = platform.AxisMinimum(axis);
}
else if (f > platform.AxisMaximum(axis))
{
f = platform.AxisMaximum(axis);
}
}
}
}
// Return the initial Cartesian coordinates we assume after switching to this kinematics
// This default is suitable for Cartesian and CoreXY printers.
void Kinematics::GetAssumedInitialPosition(size_t numAxes, float positions[]) const
{
for (size_t i = 0; i < numAxes; ++i)
{
positions[i] = 0.0;
}
}
/*static*/ Kinematics *Kinematics::Create(KinematicsType k)
{
switch (k)
{
default:
return nullptr;
case KinematicsType::cartesian:
return new CartesianKinematics();
case KinematicsType::linearDelta:
return new LinearDeltaKinematics();
case KinematicsType::coreXY:
return new CoreXYKinematics();
case KinematicsType::coreXZ:
return new CoreXZKinematics();
case KinematicsType::scara:
return new ScaraKinematics();
}
}
// End
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