julien.oculi/technoshop.laser_turret_debug
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feat: implement getter for turret home zero and position

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Julien Oculi 2025-06-12 16:54:28 +02:00
parent e1207b1122
commit cbb17e279f
4 changed files with 139 additions and 7 deletions
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20
maths.cpp
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@ -11,6 +11,12 @@ void radToStep(Turret::StepRatio stepRatio, vec2<double> angle,
step.y = angle.y * stepRatio.y;
}
void stepToRad(Turret::StepRatio stepRatio, vec2<long> step,
vec2<double> &angle) {
angle.x = step.x / stepRatio.x;
angle.y = step.y / stepRatio.y;
}
void cartesianToPolar(Turret::StepRatio stepRatio, Turret::Offset offset,
vec2<long> zero, vec3<double> position,
vec2<long> &step) {
@ -24,3 +30,17 @@ void cartesianToPolar(Turret::StepRatio stepRatio, Turret::Offset offset,
radToStep(stepRatio, angle, step);
}
void polarToCartesian(Turret::StepRatio stepRatio, Turret::Offset offset,
vec3<long> current, vec2<long> zero, vec2<long> step,
vec3<double> &position) {
vec2<double> angle;
stepToRad(stepRatio, step, angle);
vec2<double> dXYZ(tan(angle.x) * current.z, tan(angle.y) * current.z);
position.x = dXYZ.x - offset.x;
position.y = -(dXYZ.y - offset.y); // natural axis direction
position.z = current.z - offset.z;
}

5
maths.h
View file

@ -7,7 +7,12 @@ double degToRad(double deg);
double radToDeg(double rad);
void radToStep(Turret::StepRatio stepRatio, vec2<double> angle,
vec2<long> &step);
void stepToRad(Turret::StepRatio stepRatio, vec2<long> step,
vec2<double> &angle);
void cartesianToPolar(Turret::StepRatio stepRatio, Turret::Offset offset,
vec2<long> zero, vec3<double> position, vec2<long> &step);
void polarToCartesian(Turret::StepRatio stepRatio, Turret::Offset offset,
vec3<long> current, vec2<long> zero, vec2<long> step,
vec3<double> &position);
#endif

117
turret.cpp
View file

@ -210,17 +210,124 @@ Turret &Turret::moveByY(double y, Unit unit) { return moveTo(0, y, 0, unit); }
Turret &Turret::moveByZ(double z, Unit unit) { return moveTo(0, 0, z, unit); }
Turret &Turret::getPosition(double &x, double &y, double &z, Unit unit) {
// TODO implement
if (unit == Unit::MM) {
vec3<double> position;
vec2<long> xy(_current.x, _current.y);
polarToCartesian(_step_ratio, _offset, _current, _zero, xy, position);
x = position.x / 10;
y = position.y / 10;
z = position.z / 10;
}
if (unit == Unit::CM) {
vec3<double> position;
vec2<long> xy(_current.x, _current.y);
polarToCartesian(_step_ratio, _offset, _current, _zero, xy, position);
x = position.x;
y = position.y;
z = position.z;
}
if (unit == Unit::M) {
vec3<double> position;
vec2<long> xy(_current.x, _current.y);
polarToCartesian(_step_ratio, _offset, _current, _zero, xy, position);
x = position.x * 100;
y = position.y * 100;
z = position.z * 100;
}
if (unit == Unit::STEP) {
x = _home.x;
y = _home.y;
}
if (unit == Unit::RAD) {
vec2<double> angle;
stepToRad(_step_ratio, _home, angle);
x = angle.x;
y = angle.y;
}
if (unit == Unit::DEG) {
vec2<double> angle;
stepToRad(_step_ratio, _home, angle);
x = radToDeg(angle.x);
y = radToDeg(angle.y);
}
return *this;
}
Turret &Turret::getHome(double &x, double &y, double &z, Unit unit) {
// TODO implement
Turret &Turret::getHome(double &x, double &y, Unit unit) {
if (unit == Unit::MM) {
vec3<double> position;
polarToCartesian(_step_ratio, _offset, _current, _zero, _home, position);
x = position.x / 10;
y = position.y / 10;
}
if (unit == Unit::CM) {
vec3<double> position;
polarToCartesian(_step_ratio, _offset, _current, _zero, _home, position);
x = position.x;
y = position.y;
}
if (unit == Unit::M) {
vec3<double> position;
polarToCartesian(_step_ratio, _offset, _current, _zero, _home, position);
x = position.x * 100;
y = position.y * 100;
}
if (unit == Unit::STEP) {
x = _home.x;
y = _home.y;
}
if (unit == Unit::RAD) {
vec2<double> angle;
stepToRad(_step_ratio, _home, angle);
x = angle.x;
y = angle.y;
}
if (unit == Unit::DEG) {
vec2<double> angle;
stepToRad(_step_ratio, _home, angle);
x = radToDeg(angle.x);
y = radToDeg(angle.y);
}
return *this;
}
Turret &Turret::getZero(double &x, double &y, double &z, Unit unit) {
// TODO implement
Turret &Turret::getZero(double &x, double &y, Unit unit) {
if ((unit == Unit::MM) || (unit == Unit::CM) || (unit == Unit::MM)) {
x = 0;
y = 0;
}
if (unit == Unit::STEP) {
x = _zero.x;
y = _zero.y;
}
if (unit == Unit::RAD) {
vec2<double> angle;
stepToRad(_step_ratio, _zero, angle);
x = angle.x;
y = angle.y;
}
if (unit == Unit::DEG) {
vec2<double> angle;
stepToRad(_step_ratio, _zero, angle);
x = radToDeg(angle.x);
y = radToDeg(angle.y);
}
return *this;
}

4
turret.h
View file

@ -60,8 +60,8 @@ public:
Turret &moveByZ(double z, Unit unit = Turret::Unit::CM);
Turret &getPosition(double &x, double &y, double &z, Unit unit);
Turret &getHome(double &x, double &y, double &z, Unit unit);
Turret &getZero(double &x, double &y, double &z, Unit unit);
Turret &getHome(double &x, double &y, Unit unit);
Turret &getZero(double &x, double &y, Unit unit);
Turret &calibrate();