CartesianSolution.h

00001 #ifndef CARTESIANSOLUTION_H
00002 #define CARTESIANSOLUTION_H
00003 #include "libs/Module.h"
00004 #include "libs/Kernel.h"
00005 #include "BaseSolution.h"
00006 #include "libs/nuts_bolts.h"
00007 
00008 #include "libs/Config.h"
00009 
00010 #define alpha_steps_per_mm_checksum 46458
00011 #define beta_steps_per_mm_checksum  13840
00012 #define gamma_steps_per_mm_checksum 33143
00013 
00014 class CartesianSolution : public BaseSolution {
00015     public:
00016         CartesianSolution(Config* passed_config);
00017         virtual void millimeters_to_steps( double millimeters[], int steps[] );
00018         virtual void steps_to_millimeters( int steps[], double millimeters[] ); 
00019 
00020         Config* config;
00021         double alpha_steps_per_mm;
00022         double beta_steps_per_mm;
00023         double gamma_steps_per_mm;
00024 };
00025 
00026 
00027 
00028 
00029 
00030 
00031 #endif