void Gantry::moveTo(float x, float y, float speed) {
_xStepper->setSpeed(speed);
_yStepper->setSpeed(speed);
x = constrain(x, 0, _xLimit);
y = constrain(y, 0, _yLimit);
float dx = x - _x;
float dy = y - _y;
int xSteps = distToStepsMajorAxis(dx);
int ySteps = distToStepsMinorAxis(dy);
// Serial.print("x: ");
// Serial.println(x);
// Serial.print("y: ");
// Serial.println(y);
// Serial.print("xSteps: ");
// Serial.println(xSteps);
// Serial.print("ySteps: ");
// Serial.println(ySteps);
moveLinear(xSteps, ySteps);
_x += stepsToDistMajorAxis(xSteps);
_y += stepsToDistMinorAxis(ySteps);
}
chassis_id PhysicsRegion::moveLinearRelative(chassis_id id,
vector2F offset, LinearMoveStyle style, SlideMoveStyle slide,
flag_plane src,flag_plane collision) {
return moveLinear(id,getChassisCoord(id)+offset,style,slide,src,collision);
}
