Diff: modules/robot/arm_solutions/CartesianSolution.h

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/robot/arm_solutions/CartesianSolution.h	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,31 @@
+#ifndef CARTESIANSOLUTION_H
+#define CARTESIANSOLUTION_H
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "BaseSolution.h"
+#include "libs/nuts_bolts.h"
+
+#include "libs/Config.h"
+
+#define alpha_steps_per_mm_checksum 46458
+#define beta_steps_per_mm_checksum  13840
+#define gamma_steps_per_mm_checksum 33143
+
+class CartesianSolution : public BaseSolution {
+    public:
+        CartesianSolution(Config* passed_config);
+        virtual void millimeters_to_steps( double millimeters[], int steps[] );
+        virtual void steps_to_millimeters( int steps[], double millimeters[] ); 
+
+        Config* config;
+        double alpha_steps_per_mm;
+        double beta_steps_per_mm;
+        double gamma_steps_per_mm;
+};
+
+
+
+
+
+
+#endif