klippy/chelper/kin_polar.c


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// Polar kinematics stepper pulse time generation
//
// Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.

#include <math.h> // sqrt
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics

static double
polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m
                                   , double move_time)
{
    struct coord c = move_get_coord(m, move_time);
    return sqrt(c.x*c.x + c.y*c.y);
}

static double
polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m
                                  , double move_time)
{
    struct coord c = move_get_coord(m, move_time);
    // XXX - handle x==y==0
    double angle = atan2(c.y, c.x);
    if (angle - sk->commanded_pos > M_PI)
        angle -= 2. * M_PI;
    else if (angle - sk->commanded_pos < -M_PI)
        angle += 2. * M_PI;
    return angle;
}

struct stepper_kinematics * __visible
polar_stepper_alloc(char type)
{
    struct stepper_kinematics *sk = malloc(sizeof(*sk));
    memset(sk, 0, sizeof(*sk));
    if (type == 'r')
        sk->calc_position = polar_stepper_radius_calc_position;
    else if (type == 'a')
        sk->calc_position = polar_stepper_angle_calc_position;
    return sk;
}