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Viewing changes to software/FabInterpreter/picServoPath.h

  • Committer: Jeffrey Lipton
  • Date: 2010-07-10 00:48:14 UTC
  • Revision ID: jil26@cornell.edu-20100710004814-x6y9jkv81x9p8vzy
Set up a Qt version of the FabInterpeter as a seperate branch. this is non functional. PRO file needs to be updated. DLL imports fail

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software/FabInterpreter/picServoPath.h
 
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//---------------------------------------------------------------------------
 
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#ifndef PIC_SERVO_PATH_H
 
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#define PIC_SERVO_PATH_H
 
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//---------------------------------------------------------------------------
 
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//Defines:
 
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//Segment types:
 
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#define LINE 0
 
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#define ARC 1
 
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#define MAXSEG 1000     //Maximum number of segments
 
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#define PI 3.14159
 
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#define TWOPI 6.28319
 
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#define DTOR 0.017453
 
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//Valuse for tangent tolerance
 
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#define TAN_1DEGREE 0.99985
 
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#define TAN_3DEGREE 0.99863
 
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#define TAN_5DEGREE 0.99619
 
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#define TAN_10DEGREE 0.98481
 
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#define TAN_20DEGREE 0.93969
 
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#define TAN_45DEGREE 0.70711
 
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#define ONLINE 1
 
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//---------------------------------------------------------------------------
 
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//Data types:
 
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typedef float fp[3];     //floating point 3x1 vector
 
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typedef long int ip[3];  //integer 3x1 vector
 
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typedef struct {         //data type for line segments or arc segments
 
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                        int type;               //LINE or ARC
 
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                        fp p1;          //Starting point
 
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            fp p2;          //Ending point
 
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            fp c;           //Center point (arcs only)
 
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            fp norm;        //Normal vector (arcs only)
 
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            float len;          //Segment length
 
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            float r;            //Radius (arcs only)
 
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            } segment;
 
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typedef struct {         //data type for a coordinate frame
 
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                        fp      x;
 
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            fp  y;
 
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            fp  z;
 
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            fp  p;
 
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            } frame;
 
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//---------------------------------------------------------------------------
 
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//Load functions from DLL.
 
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/*
 
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static void (*SetTangentTolerance)(float) = reinterpret_cast<void(*)(float)>(DLL::loadFunction("PATHLIB4.dll","SetTangentTolerance"));  
 
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static void (*ClearSegList)(float,float,float) = reinterpret_cast<void(*)(float,float,float)>(DLL::loadFunction("PATHLIB4.dll","ClearSegList"));  
 
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static int (*AddLineSeg)(float,float,float) = reinterpret_cast<int(*)(float,float,float)>(DLL::loadFunction("PATHLIB4.dll","AddLineSeg"));  
 
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static int (*AddArcSeg)(float,float,float,float,float,float,float,float,float) = reinterpret_cast<int(*)(float,float,float,float,float,float,float,float,float)>(DLL::loadFunction("PATHLIB4.dll","AddArcSeg"));  
 
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static void (*SetFeedrate)(float) = reinterpret_cast<void(*)(float)>(DLL::loadFunction("PATHLIB4.dll","SetFeedrate"));
 
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static void (*SetOrigin)(float,float,float) = reinterpret_cast<void(*)(float,float,float)>(DLL::loadFunction("PATHLIB4.dll","SetOrigin"));
 
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static int (*SetPathParams)(int,int,int,int,int,int,int,float,float,float,float) = reinterpret_cast<int(*)(int,int,int,int,int,int,int,float,float,float,float)>(DLL::loadFunction("PATHLIB4.dll","SetPathParams"));
 
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static int (*SetPathParams2)(int,int,int,int,int,int,int,float,float,float,float) = reinterpret_cast<int(*)(int,int,int,int,int,int,int,float,float,float,float)>(DLL::loadFunction("PATHLIB4.dll","SetPathParams2"));
 
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static float (*InitPath)(void) = reinterpret_cast<float(*)(void)>(DLL::loadFunction("PATHLIB4.dll","InitPath"));
 
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static int (*AddPathPoints)(void) = reinterpret_cast<int(*)(void)>(DLL::loadFunction("PATHLIB4.dll","AddPathPoints"));
 
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*/
 
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[DllImport("PATHLIB4.dll", EntryPoint = "SetTangentTolerance", CharSet = Unicode)]
 
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void SetTangentTolerance(float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "ClearSegList", CharSet = Unicode)]
 
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void ClearSegList(float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "AddLineSeg", CharSet = Unicode)]
 
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int AddLineSeg(float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "AddArcSeg", CharSet = Unicode)]
 
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int AddArcSeg(float,float,float,float,float,float,float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "SetFeedrate", CharSet = Unicode)]
 
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void SetFeedrate(float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "SetOrigin", CharSet = Unicode)]
 
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void SetOrigin(float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "SetPathParams", CharSet = Unicode)]
 
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int SetPathParams(int,int,int,int,int,int,int,float,float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "SetPathParams2", CharSet = Unicode)]
 
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int SetPathParams2(int,int,int,int,int,int,int,float,float,float,float);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "InitPath", CharSet = Unicode)]
 
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float InitPath(void);
 
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[DllImport("PATHLIB4.dll", EntryPoint = "AddPathPoints", CharSet = Unicode)]
 
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int AddPathPoints(void);
 
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#endif //ndef PIC_SERVO_PATH_H
 
 
b'\\ No newline at end of file'