38 lines
1.3 KiB
C
38 lines
1.3 KiB
C
#ifndef _DDA_KINEMATICS_H
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#define _DDA_KINEMATICS_H
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#include "config_wrapper.h"
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#include <stdint.h>
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#include "dda.h"
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void carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps);
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void carthesian_to_corexy(TARGET *startpoint, TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps);
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//void carthesian_to_scara(TARGET *startpoint, TARGET *target,
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// axes_uint32_t delta_um, axes_int32_t steps);
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static void code_axes_to_stepper_axes(TARGET *, TARGET *, axes_uint32_t,
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axes_int32_t)
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__attribute__ ((always_inline));
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inline void code_axes_to_stepper_axes(TARGET *startpoint, TARGET *target,
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axes_uint32_t delta_um,
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axes_int32_t steps) {
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#if defined KINEMATICS_STRAIGHT
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carthesian_to_carthesian(startpoint, target, delta_um, steps);
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#elif defined KINEMATICS_COREXY
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carthesian_to_corexy(startpoint, target, delta_um, steps);
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// #elif defined KINEMATICS_SCARA
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// return carthesian_to_scara(startpoint, target, delta_um, steps);
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#else
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#error KINEMATICS not defined or unknown, edit your config.h.
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#endif
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}
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#endif /* _DDA_KINEMATICS_H */
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