kopia lustrzana https://gitlab.com/markol/Teathimble_Firmware
54 wiersze
1.9 KiB
C
54 wiersze
1.9 KiB
C
#ifndef _KINEMATICS_H
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#define _KINEMATICS_H
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#include "config.h"
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#include <stdint.h>
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#include "motor.h"
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void carthesian_to_carthesian(const TARGET *startpoint, const TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps);
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void carthesian_to_corexy(const TARGET *startpoint, const TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps);
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static void code_axes_to_stepper_axes(const TARGET *, const TARGET *, axes_uint32_t,
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axes_int32_t)
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__attribute__ ((always_inline));
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inline void code_axes_to_stepper_axes(const TARGET *startpoint, const TARGET *target,
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axes_uint32_t delta_um,
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axes_int32_t steps) {
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#if defined KINEMATICS_STRAIGHT
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carthesian_to_carthesian(startpoint, target, delta_um, steps);
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#elif defined KINEMATICS_COREXY
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carthesian_to_corexy(startpoint, target, delta_um, steps);
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// #elif defined KINEMATICS_SCARA
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// return carthesian_to_scara(startpoint, target, delta_um, steps);
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#else
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#error KINEMATICS not defined or unknown, edit your config.h.
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#endif
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}
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void axes_um_to_steps_cartesian(const axes_int32_t um, axes_int32_t steps);
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void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps);
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// void axes_um_to_steps_scara(const axes_int32_t um, axes_int32_t steps);
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static void axes_um_to_steps(const axes_int32_t, axes_int32_t)
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__attribute__ ((always_inline));
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inline void axes_um_to_steps(const axes_int32_t um, axes_int32_t steps) {
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#if defined KINEMATICS_STRAIGHT
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axes_um_to_steps_cartesian(um, steps);
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#elif defined KINEMATICS_COREXY
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axes_um_to_steps_corexy(um, steps);
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// #elif defined KINEMATICS_SCARA
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// axes_um_to_steps_scara(um, steps);
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#else
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#error KINEMATICS not defined or unknown, edit your config.h.
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#endif
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}
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#endif /* _KINEMATICS_H */
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