void LinearMotion::interpolate(Vector length, int maxSpeed, bool solenoidOn) {
long tempLength;
Stepper * tempStep;
Stepper * reorderedStepMotor[3] = {StepMotor[0], StepMotor[1], StepMotor[2]};
_z = false;
if (abs(length.y) > abs(length.x)) {
tempLength = length.y;
length.y = length.x;
length.x = tempLength;
tempStep = reorderedStepMotor[1];
reorderedStepMotor[1] = reorderedStepMotor[0];
reorderedStepMotor[0] = tempStep;
}
if (abs(length.z) > abs(length.x)) {
tempLength = length.z;
length.z = length.x;
length.x = tempLength;
tempStep = reorderedStepMotor[2];
reorderedStepMotor[2] = reorderedStepMotor[0];
reorderedStepMotor[0] = tempStep;
_z = true;
}
enableSteppers(true);
doLinear(length, reorderedStepMotor, maxSpeed, solenoidOn);
enableSteppers(false);
}
CurveWidget::CurveWidget( QWidget* parent ) : QWidget( parent )
{
CurveWidgetLayout = new QHBoxLayout(this);
CurveWidgetLayout->setMargin(5);
CurveWidgetLayout->setSpacing(5);
layout1 = new QVBoxLayout;
layout1->setMargin(0);
layout1->setSpacing(5);
invertButton = new QPushButton( this );
invertButton->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
invertButton->setIcon( IconManager::instance()->loadIcon("invert.png") );
invertButton->setIconSize(QSize(22, 22));
layout1->addWidget( invertButton );
resetButton = new QPushButton( this );
resetButton->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
resetButton->setIcon( IconManager::instance()->loadIcon("reload.png") );
resetButton->setIconSize(QSize(22, 22));
layout1->addWidget( resetButton );
linearButton = new QPushButton( this );
QIcon ic;
ic.addPixmap(IconManager::instance()->loadPixmap("curvebezier.png"), QIcon::Normal, QIcon::Off);
ic.addPixmap(IconManager::instance()->loadPixmap("curvelinear.png"), QIcon::Normal, QIcon::On);
linearButton->setIcon(ic);
linearButton->setCheckable( true );
linearButton->setChecked(false);
linearButton->setIconSize(QSize(22, 22));
linearButton->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
layout1->addWidget( linearButton );
spacer1 = new QSpacerItem( 2, 3, QSizePolicy::Minimum, QSizePolicy::Expanding );
layout1->addItem( spacer1 );
loadButton = new QPushButton( this );
loadButton->setIcon( IconManager::instance()->loadIcon("22/document-open.png") );
loadButton->setIconSize(QSize(22, 22));
loadButton->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
layout1->addWidget( loadButton );
saveButton = new QPushButton( this );
saveButton->setIcon( IconManager::instance()->loadIcon("22/document-save-as.png") );
saveButton->setIconSize(QSize(22, 22));
saveButton->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
layout1->addWidget( saveButton );
CurveWidgetLayout->addLayout( layout1 );
cDisplay = new KCurve(this);
cDisplay->setMinimumSize( QSize( 150, 150 ) );
CurveWidgetLayout->addWidget( cDisplay );
languageChange();
connect(invertButton, SIGNAL(clicked()), this, SLOT(doInvert()));
connect(resetButton, SIGNAL(clicked()), this, SLOT(doReset()));
connect(linearButton, SIGNAL(clicked()), this, SLOT(doLinear()));
connect(loadButton, SIGNAL(clicked()), this, SLOT(doLoad()));
connect(saveButton, SIGNAL(clicked()), this, SLOT(doSave()));
}
void doBinary(ostream &o, uint i, Span *s, uint n, State *next){
if(n <= 4){
doLinear(o, i, s, n, next);
} else {
uint h = n/2;
indent(o, i); genIf(o, "<=", s[h-1].ub - 1); o << "{\n";
doBinary(o, i+1, &s[0], h, next);
indent(o, i); o << "\t} else {\n";
doBinary(o, i+1, &s[h], n - h, next);
indent(o, i); o << "\t}\n";
}
}
void State::genLinear(ostream &o){
o << "\t{LOADCURSOR}\n";
doLinear(o, 0, go.span, go.nSpans, next);
}
