47 lines
1.5 KiB
C
47 lines
1.5 KiB
C
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program 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.
|
|
*
|
|
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
/**
|
|
* scara.h - SCARA-specific functions
|
|
*/
|
|
|
|
#include "../core/macros.h"
|
|
|
|
extern float delta_segments_per_second;
|
|
|
|
// Float constants for SCARA calculations
|
|
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
|
|
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
|
|
L2_2 = sq(float(L2));
|
|
|
|
void scara_set_axis_is_at_home(const AxisEnum axis);
|
|
|
|
void inverse_kinematics(const float (&raw)[XYZ]);
|
|
FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
|
|
const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
|
|
inverse_kinematics(raw_xyz);
|
|
}
|
|
void forward_kinematics_SCARA(const float &a, const float &b);
|
|
|
|
void scara_report_positions();
|