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/*
* ScaraKinematics.h
*
* Created on: 24 Apr 2017
* Author: David
*/
#ifndef SRC_MOVEMENT_KINEMATICS_SCARAKINEMATICS_H_
#define SRC_MOVEMENT_KINEMATICS_SCARAKINEMATICS_H_
#include "Kinematics.h"
// Standard setup for SCARA machines assumed by this firmware
// The X motor output drives the proximal arm joint, unless remapped using M584
// The Y motor output drives the distal arm joint, unless remapped using M584
// Forward motion of a motor rotates the arm anticlockwise as seen from above (use M569 to reverse it)
// Theta is the angle of the proximal arm joint from the reference position.
// At theta = 0 the proximal arm points in the Cartesian +X direction
// Phi is the angle of the distal arm relative to the Cartesian X axis. Therefore the angle of the distal arm joint is (phi - theta).
// The M92 steps/mm settings for X and Y are interpreted as steps per degree of theta and phi respectively.
class ScaraKinematics : public Kinematics
{
public:
// Constructors
ScaraKinematics();
// 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[]) const override;
void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override;
bool SupportsAutoCalibration() const override { return false; }
bool IsReachable(float x, float y) const override;
bool LimitPosition(float position[], size_t numAxes, uint16_t axesHomed) const override;
void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override;
const char* HomingButtonNames() const override { return "PDZUVW"; }
bool DriveIsShared(size_t drive) const override;
HomingMode GetHomingMode() const override { return homeSharedMotors; }
private:
static constexpr float DefaultSegmentsPerSecond = 200.0;
static constexpr float DefaultMinSegmentSize = 0.2;
static constexpr float DefaultProximalArmLength = 100.0;
static constexpr float DefaultDistalArmLength = 100.0;
static constexpr float DefaultMinTheta = -90.0; // minimum proximal joint angle
static constexpr float DefaultMaxTheta = 90.0; // maximum proximal joint angle
static constexpr float DefaultMinPhiMinusTheta = -135.0; // minimum distal joint angle
static constexpr float DefaultMaxPhiMinusTheta = 135.0; // maximum distal joint angle
void Recalc();
// Primary parameters
float proximalArmLength;
float distalArmLength;
float thetaLimits[2]; // minimum proximal joint angle
float phiMinusThetaLimits[2]; // minimum distal joint angle
float crosstalk[3]; // if we rotate the distal arm motor, for each full rotation the Z height goes up by this amount
// Derived parameters
float minRadius;
float maxRadius;
float proximalArmLengthSquared;
float distalArmLengthSquared;
// State variables
mutable bool isDefaultArmMode; // this should be moved into class Move when it knows about different arm modes
};
#endif /* SRC_MOVEMENT_KINEMATICS_SCARAKINEMATICS_H_ */
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