41 lines
1.2 KiB
C
41 lines
1.2 KiB
C
// Cable winch stepper kinematics
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//
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// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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struct winch_stepper {
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struct stepper_kinematics sk;
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struct coord anchor;
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};
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static double
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winch_stepper_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct winch_stepper *hs = container_of(sk, struct winch_stepper, sk);
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struct coord c = move_get_coord(m, move_time);
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double dx = hs->anchor.x - c.x, dy = hs->anchor.y - c.y;
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double dz = hs->anchor.z - c.z;
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return sqrt(dx*dx + dy*dy + dz*dz);
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}
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struct stepper_kinematics * __visible
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winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z)
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{
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struct winch_stepper *hs = malloc(sizeof(*hs));
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memset(hs, 0, sizeof(*hs));
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hs->anchor.x = anchor_x;
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hs->anchor.y = anchor_y;
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hs->anchor.z = anchor_z;
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hs->sk.calc_position = winch_stepper_calc_position;
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return &hs->sk;
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}
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