kopia lustrzana https://github.com/gnea/grbl
51 wiersze
1.4 KiB
C
51 wiersze
1.4 KiB
C
/*
|
|
motion_control.h - cartesian robot controller.
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef nuts_bolts_h
|
|
#define nuts_bolts_h
|
|
#include <string.h>
|
|
|
|
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
|
|
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
|
|
|
|
|
|
#define max(a,b) (((a) > (b)) ? (a) : (b))
|
|
#define min(a,b) (((a) < (b)) ? (a) : (b))
|
|
|
|
#define FALSE 0
|
|
#define TRUE 1
|
|
|
|
// Decide the sign of a value
|
|
#define signof(a) (((a)>0) ? 1 : (((a)<0) ? -1 : 0))
|
|
|
|
#define clear_vector(a) memset(a, 0, sizeof(a))
|
|
|
|
#define X_AXIS 0
|
|
#define Y_AXIS 1
|
|
#define Z_AXIS 2
|
|
|
|
// void scale_vector(double *target, double *source, double multiplier) {
|
|
// target[0] = source[0]*multiplier;
|
|
// target[1] = source[1]*multiplier;
|
|
// target[2] = source[2]*multiplier;
|
|
// }
|
|
|
|
#endif
|