scara.h File Reference

#include "../core/macros.h"

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Functions
void	scara_set_axis_is_at_home (const AxisEnum axis)
void	inverse_kinematics (const xyz_pos_t &raw)
void	forward_kinematics_SCARA (const float &a, const float &b)
void	scara_report_positions ()

Variables
float	delta_segments_per_second
constexpr float	L1 = SCARA_LINKAGE_1
constexpr float	L2 = SCARA_LINKAGE_2
constexpr float	L1_2 = sq(float(L1))
constexpr float	L1_2_2 = 2.0 * L1_2
constexpr float	L2_2 = sq(float(L2))

Function Documentation

scara_set_axis_is_at_home()

void scara_set_axis_is_at_home

(

const AxisEnum

axis

)

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inverse_kinematics()

void inverse_kinematics

(

const xyz_pos_t &

raw

)

forward_kinematics_SCARA()

void forward_kinematics_SCARA	(	const float &	a,
		const float &	b
	)

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scara_report_positions()

void scara_report_positions

(

)

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Variable Documentation

delta_segments_per_second

float delta_segments_per_second

Marlin 3D Printer Firmware 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/. scara.h - SCARA-specific functions

L1

constexpr float L1 = SCARA_LINKAGE_1

constexpr

L2

constexpr float L2 = SCARA_LINKAGE_2

constexpr

L1_2

constexpr float L1_2 = sq(float(L1))

constexpr

L1_2_2

constexpr float L1_2_2 = 2.0 * L1_2

constexpr

L2_2

constexpr float L2_2 = sq(float(L2))

constexpr