julien.oculi/technoshop.laser_turret_debug
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feat!: update turret axis geometric model

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Julien Oculi 2025-06-05 16:01:52 +02:00
parent 3e745059a2
commit 547d51dfc7
1 changed files with 4 additions and 4 deletions
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8
maths.cpp
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@ -20,14 +20,14 @@ void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
double offsetY = 21.0; // laser to stand
double offsetX = 0.0; // unused
x = -x; // natural axis direction
// x = -x; // natural axis direction
y = -y; // natural axis direction
double dX = x + offsetX;
double dY = y + offsetY;
double dZ = z + distance;
double rho = sqrt(pow(dX, 2.0) + pow(dY, 2.0) + pow(dZ, 2.0));
double angleY = M_PI / 2.0 - acos(dY / rho);
double angleX = atan2(dX, dZ);
double angleY = atan2(dZ, dY) - M_PI / 2;
double angleX = atan2(dZ, dX) - M_PI / 2;
angleToStep(stepX, stepY, angleX, angleY);
}