Firmware2/Marlin/src/module/scara.h

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/**
* Marlin 3D Printer Firmware
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* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
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/**
* scara.h - SCARA-specific functions
*/
#pragma once
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#include "../core/macros.h"
extern float delta_segments_per_second;
// Float constants for SCARA calculations
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
L2_2 = sq(float(L2));
void scara_set_axis_is_at_home(const AxisEnum axis);
void inverse_kinematics(const float (&raw)[XYZ]);
FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
inverse_kinematics(raw_xyz);
}
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void forward_kinematics_SCARA(const float &a, const float &b);
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void scara_report_positions();