42 lines
1.2 KiB
C
42 lines
1.2 KiB
C
|
// Polar kinematics stepper pulse time generation
|
||
|
|
//
|
||
|
|
// Copyright (C) 2018 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
|
||
|
|
// XXX - handle angle wrapping
|
||
|
|
return atan2(c.y, c.x);
|
||
|
|
}
|
||
|
|
|
||
|
|
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;
|
||
|
|
}
|