37 lines
1.1 KiB
C
37 lines
1.1 KiB
C
#include "dda_kinematics.h"
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/** \file G-code axis system to stepper motor axis system conversion.
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*/
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#include <stdlib.h>
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#include "dda_maths.h"
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void
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carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps) {
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enum axis_e i;
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for (i = X; i < E; i++) {
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delta_um[i] = (uint32_t)labs(target->axis[i] - startpoint->axis[i]);
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steps[i] = um_to_steps(target->axis[i], i);
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}
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}
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void
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carthesian_to_corexy(TARGET *startpoint, TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps) {
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delta_um[X] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) +
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(target->axis[Y] - startpoint->axis[Y]));
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steps[X] = um_to_steps(target->axis[X] + target->axis[Y], X);
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delta_um[Y] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) -
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(target->axis[Y] - startpoint->axis[Y]));
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steps[Y] = um_to_steps(target->axis[X] - target->axis[Y], Y);
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delta_um[Z] = (uint32_t)labs(target->axis[Z] - startpoint->axis[Z]);
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steps[Z] = um_to_steps(target->axis[Z], Z);
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}
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