1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
|
#ifndef ITERSOLVE_H
#define ITERSOLVE_H
#include <stdint.h> // int32_t
enum {
AF_X = 1 << 0, AF_Y = 1 << 1, AF_Z = 1 <<2,
};
struct stepper_kinematics;
struct move;
typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
, double move_time);
typedef void (*sk_post_callback)(struct stepper_kinematics *sk);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
double last_flush_time;
struct trapq *tq;
int active_flags;
sk_calc_callback calc_position_cb;
sk_post_callback post_cb;
};
int32_t itersolve_generate_steps(struct stepper_kinematics *sk
, double flush_time);
double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
#endif // itersolve.h
|
