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53 lines
1.7 KiB
53 lines
1.7 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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#pragma once
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/**
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* scara.h - SCARA-specific functions
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*/
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#include "../core/macros.h"
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extern float segments_per_second;
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#if ENABLED(AXEL_TPARA)
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float constexpr L1 = TPARA_LINKAGE_1, L2 = TPARA_LINKAGE_2, // Float constants for Robot arm calculations
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L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
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L2_2 = sq(float(L2));
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void forward_kinematics(const_float_t a, const_float_t b, const_float_t c);
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void home_TPARA();
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#else
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float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, // Float constants for SCARA calculations
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L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
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L2_2 = sq(float(L2));
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void forward_kinematics(const_float_t a, const_float_t b);
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#endif
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void inverse_kinematics(const xyz_pos_t &raw);
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void scara_set_axis_is_at_home(const AxisEnum axis);
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void scara_report_positions();
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