51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
/*
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motion_control.h - cartesian robot controller.
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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 nuts_bolts_h
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#define nuts_bolts_h
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#include <string.h>
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#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
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#define TICKS_PER_MICROSECOND (F_CPU/1000000)
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#define FALSE 0
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#define TRUE 1
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// Decide the sign of a value
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#define signof(a) (((a)>0) ? 1 : (((a)<0) ? -1 : 0))
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define X_AXIS 0
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#define Y_AXIS 1
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#define Z_AXIS 2
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void scale_vector(float *target, float *source, float multiplier) {
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target[0] = source[0]*multiplier;
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target[1] = source[1]*multiplier;
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target[2] = source[2]*multiplier;
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}
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#endif
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