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/*
* PolarKinematics.h
*
* Created on: 13 Oct 2017
* Author: David
*/
#ifndef SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_
#define SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_
#include "Kinematics.h"
class PolarKinematics : public Kinematics
{
public:
PolarKinematics();
// 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 IsReachable(float x, float y, bool isCoordinated) const override;
bool LimitPosition(float position[], size_t numAxes, AxesBitmap axesHomed, bool isCoordinated) const override;
void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override;
const char* HomingButtonNames() const override { return "RTZUVWABC"; }
HomingMode GetHomingMode() const override { return homeIndividualMotors; }
AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const override;
const char* GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, AxesBitmap& mustHomeFirst) const override;
bool QueryTerminateHomingMove(size_t axis) const override;
void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override;
void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override;
private:
static constexpr float DefaultSegmentsPerSecond = 100.0;
static constexpr float DefaultMinSegmentSize = 0.2;
static constexpr float DefaultMaxRadius = 150.0;
static constexpr float DefaultMaxTurntableSpeed = 30.0; // degrees per second
static constexpr float DefaultMaxTurntableAcceleration = 30.0; // degrees per second per second
static constexpr const char *HomeRadiusFileName = "homeradius.g";
static constexpr const char *HomeBedFileName = "homebed.g";
void Recalc();
float minRadius, maxRadius, homedRadius;
float maxTurntableSpeed, maxTurntableAcceleration;
float minRadiusSquared, maxRadiusSquared;
};
#endif /* SRC_MOVEMENT_KINEMATICS_POLARKINEMATICS_H_ */
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