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#ifndef ITERSOLVE_H
#define ITERSOLVE_H
#include <stdint.h> // uint32_t
struct coord {
double x, y, z;
};
struct move_accel {
double c1, c2;
};
struct move {
double print_time, move_t;
double accel_t, cruise_t;
double cruise_start_d, decel_start_d;
double cruise_v;
struct move_accel accel, decel;
struct coord start_pos, axes_r;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct stepper_kinematics;
typedef double (*sk_callback)(struct stepper_kinematics *sk, struct move *m
, double move_time);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
sk_callback calc_position;
};
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
#endif // itersolve.h
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