Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

modules/robot/arm_solutions/CartesianSolution.cpp

Committer:
scachat
Date:
2012-07-31
Revision:
0:31e91bb0ef3c

File content as of revision 0:31e91bb0ef3c:

#include "CartesianSolution.h"
#include <math.h>

CartesianSolution::CartesianSolution(Config* passed_config) : config(passed_config){
    this->alpha_steps_per_mm = this->config->value(alpha_steps_per_mm_checksum)->as_number();
    this->beta_steps_per_mm  = this->config->value( beta_steps_per_mm_checksum)->as_number();
    this->gamma_steps_per_mm = this->config->value(gamma_steps_per_mm_checksum)->as_number();
}

void CartesianSolution::millimeters_to_steps( double millimeters[], int steps[] ){
    steps[ALPHA_STEPPER] = floor( millimeters[X_AXIS] * this->alpha_steps_per_mm +0.5);
    steps[BETA_STEPPER ] = floor( millimeters[Y_AXIS] * this->beta_steps_per_mm +0.5);
    steps[GAMMA_STEPPER] = floor( millimeters[Z_AXIS] * this->gamma_steps_per_mm +0.5);
}

void CartesianSolution::steps_to_millimeters( int steps[], double millimeters[] ){}