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54 lines
1.6 KiB
54 lines
1.6 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* polargraph.cpp
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(POLARGRAPH)
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#include "polargraph.h"
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#include "motion.h"
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// For homing:
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#include "planner.h"
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#include "endstops.h"
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#include "../lcd/marlinui.h"
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#include "../MarlinCore.h"
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float segments_per_second; // Initialized by settings.load()
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xy_pos_t draw_area_min = { X_MIN_POS, Y_MIN_POS },
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draw_area_max = { X_MAX_POS, Y_MAX_POS };
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xy_float_t draw_area_size = { X_MAX_POS - X_MIN_POS, Y_MAX_POS - Y_MIN_POS };
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float polargraph_max_belt_len = HYPOT(draw_area_size.x, draw_area_size.y);
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void inverse_kinematics(const xyz_pos_t &raw) {
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const float x1 = raw.x - (draw_area_min.x), x2 = (draw_area_max.x) - raw.x, y = raw.y - (draw_area_max.y);
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delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
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}
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#endif // POLARGRAPH
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