nx_robot_kinematics.nx
buildroot/runtime/nx_robot_kinematics.nx
about
nx_robot_kinematics.nx -- SOVEREIGN robot KINEMATICS (turn a desired pose into machine/joint
motion). Two real machine classes:
1) CoreXY / H-bot / Cartesian -- the kinematics of most printers/CNC/gantry robots. The belt
equations are LINEAR -> INTEGER-EXACT, NO TRIG, perfect FK<->IK round-trip. Feeds directly
into nx_robot_step (motor deltas -> synchronized stepper pulses).
2) 2-link planar ARM -- the canonical rotary robot arm. FORWARD kinematics (joint angles ->
end-effector position) via the sovereign Q10 nx_trig sin/cos. INVERSE arm IK needs acos/atan2
(not yet in nx_trig) -> flagged as the next rung.
NO FLOAT throughout (CoreXY exact integer; arm in Q10 fixed point).
license_tier: ORIGINAL expect_exit: 0
dependencies 2 imports · 1 importers
imports: nx_syscalls.nxnx_trig.nx
imported by: nx_robot_kinematics_gate.nx
structs
| none |
consts
| none |
functions
| 15 | func corexy_ik(x: i64, y: i64, out_a: *i64, out_b: *i64) -> i64 |
| 23 | func corexy_fk(a: i64, b: i64, out_x: *i64, out_y: *i64) -> i64 |
| 33 | func arm2_fk(t1: i64, t2: i64, l1: i64, l2: i64, out_x: *i64, out_y: *i64) -> i64 |