2018-06-09 01:55:24 +02:00
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#ifndef ITERSOLVE_H
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#define ITERSOLVE_H
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2019-10-27 18:23:03 +01:00
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#include <stdint.h> // int32_t
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2018-06-09 01:55:24 +02:00
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struct stepper_kinematics;
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2019-10-27 18:23:03 +01:00
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struct move;
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2019-10-27 16:06:46 +01:00
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typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
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, double move_time);
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2019-10-27 16:14:40 +01:00
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typedef void (*sk_post_callback)(struct stepper_kinematics *sk);
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2018-06-09 01:55:24 +02:00
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struct stepper_kinematics {
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double step_dist, commanded_pos;
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struct stepcompress *sc;
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2019-10-27 16:06:46 +01:00
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sk_calc_callback calc_position_cb;
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2019-10-27 16:14:40 +01:00
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sk_post_callback post_cb;
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2018-06-09 01:55:24 +02:00
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};
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int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
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void itersolve_set_stepcompress(struct stepper_kinematics *sk
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, struct stepcompress *sc, double step_dist);
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2018-07-18 17:51:28 +02:00
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double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
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, double x, double y, double z);
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2018-06-09 01:55:24 +02:00
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void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos);
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2018-06-22 19:03:07 +02:00
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double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
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2018-06-09 01:55:24 +02:00
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#endif // itersolve.h
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