Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

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Show/hide line numbers HBotSolution.cpp Source File

HBotSolution.cpp

00001 #include "HBotSolution.h"
00002 #include <math.h>
00003 
00004 void HBotSolution::cartesian_to_actuator( float cartesian_mm[], float actuator_mm[] ){
00005     actuator_mm[ALPHA_STEPPER] = cartesian_mm[X_AXIS] + cartesian_mm[Y_AXIS];
00006     actuator_mm[BETA_STEPPER ] = cartesian_mm[X_AXIS] - cartesian_mm[Y_AXIS];
00007     actuator_mm[GAMMA_STEPPER] = cartesian_mm[Z_AXIS];
00008 }
00009 
00010 void HBotSolution::actuator_to_cartesian( float actuator_mm[], float cartesian_mm[] ){
00011     cartesian_mm[X_AXIS] = 0.5F * (actuator_mm[ALPHA_STEPPER] + actuator_mm[BETA_STEPPER]);
00012     cartesian_mm[Y_AXIS] = 0.5F * (actuator_mm[ALPHA_STEPPER] - actuator_mm[BETA_STEPPER]);
00013     cartesian_mm[Z_AXIS] = actuator_mm[GAMMA_STEPPER];
00014 }
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