56 lines
2.0 KiB
C
56 lines
2.0 KiB
C
/*
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geometry.h - a place for geometry helpers
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef geometry_h
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#define geometry_h
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#include <avr/io.h>
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// Find the angle from the positive y axis to the given point with respect to origo.
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double theta(double x, double y);
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// Find the quadrant of the coordinate
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int quadrant_of_the_circle(int32_t x, int32_t y);
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/*
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Quadrants of the circle
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+---- 0 ----+ 0 - y is always positive and |x| < |y|
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| | 1 - x is always positive and |x| > |y|
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| | 2 - y is always negative and |x| < |y|
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3 + 1 3 - x is always negative and |x| > |y|
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+---- 2 ----+
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*/
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// A macro to decide if a quadrant-number represent a horizontal quadrant
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#define quadrant_horizontal(q) ((q % 2) == 0)
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// Very specialized helper to calculate the amount of steps to travel in the given quadrant of a circle provided the
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// axial direction of the quadrant, the angular_direction of travel (-1 or +1) and amount of steps in one half quadrant
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// of the circle.
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uint32_t steps_in_partial_quadrant(int32_t x, int32_t y, int horizontal_quadrant, int angular_direction,
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int32_t steps_in_half_quadrant);
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// Counts the amount of full quadrants between quadrant_start and quadrant_target along the angular_direction
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int full_quadrants_between(int quadrant_start, int quadrant_target, int angular_direction);
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#endif
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