KinematicsCoreXY Class Reference

KinematicsCoreXY implements coreXY kinematics transformation. More...

#include <kinematics.hpp>

Inheritance diagram for KinematicsCoreXY:

Public Member Functions
void	begin ()
	Initializes the KinematicsCoreXY. This must be called before using the kinematics.
void	push_deep () override
void	pull_deep () override

Public Attributes
BlockPort	input_x
	Input BlockPort for X axis motion. Map upstream components to this port.
BlockPort	input_y
	Input BlockPort for Y axis motion. Map upstream components to this port.
BlockPort	output_a
	Output BlockPort for A motor motion. Map downstream components to this port.
BlockPort	output_b
	Output BlockPort for B motor motion. Map downstream components to this port.

Protected Member Functions
void	run ()

Detailed Description

KinematicsCoreXY implements coreXY kinematics transformation.

The KinematicsCoreXY class converts Cartesian X and Y motion inputs into CoreXY A and B motor outputs. This is useful for controlling CoreXY mechanisms commonly used in 3D printers, plotters and other CNC machines. Here's an example of how to instantiate and configure a KinematicsCoreXY:

#define module_driver
#include "stepdance.hpp"
Encoder enc_1;
Encoder enc_2;
KinematicsCoreXY corexy_kinematics;
Channel channel_a;
Channel channel_b;
OutputPort output_a;
OutputPort output_b;
 
void setup(){
  // Initialize OutputPorts and enable drivers
  output_a.begin(OUTPUT_A);
  output_b.begin(OUTPUT_B);
  enable_drivers();
 
  // Initialize Channels
  channel_a.begin(&output_a, SIGNAL_E);
  channel_b.begin(&output_b, SIGNAL_E);
 
  // Initialize Encoders
  enc_1.begin(ENCODER_1);
  enc_1.set_ratio(24, 2400);  // 24mm per revolution, where 1 rev == 2400 encoder pulses
  enc_2.begin(ENCODER_2);
  enc_2.set_ratio(24, 2400);  // 24mm per revolution, where 1 rev == 2400 encoder pulses
 
  // Map Encoder outputs to KinematicsCoreXY inputs
  enc_1.output.map(corexy_kinematics.input_x);
  enc_2.output.map(corexy_kinematics.input_y);
 
  // Initialize KinematicsCoreXY and map to channels
  corexy_kinematics.begin();
  corexy_kinematics.output_x.map(channel_a.input_target_position);
  corexy_kinematics.output_y.map(channel_b.input_target_position);
 
  dance_start();
} 
 
void loop(){
  dance_loop();
}

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The documentation for this class was generated from the following file:

• lib/kinematics.hpp