// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved


// This software makes use of tools and libraries obtained from open source projects or released for

// use by relevant hardware manufactures. However, this software is NOT a part of any open source project.

// It is released only on a "need to know" basis for beta testers of the "RiceCNC Interpolation Engine".

// Recipents of this source code must respect the confidential nature of this software and prevent any

// distribution that could result in counterfeit copies of the "RiceCNC Interpolation Engine".


// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved

#include <Link.h>

#include <Axis.h>



Link::Link( Axis* aSuperiorAxis, Axis* aSubordinateAxis, float aScale ) {

     superiorAxis       = aSuperiorAxis;

     subordinateAxis    = aSubordinateAxis;

     scale              = aScale; };


Link::~Link() {

     // Remove from the superior chain

     Link** superLinkPtrPtr               = &subordinateAxis->firstSuperiorLink;

     while ( true ) {

          Link* superLink                    = *superLinkPtrPtr;

          if ( ! superLink )

               break; // program error


          if ( superLink == this ) { // byppass self

               *superLinkPtrPtr          = nextSuperiorLink;

               break; };


          superLinkPtrPtr                    = &superLink->nextSuperiorLink; };


     // Remove from the subordinate chain

     Link** subordinateLinkPtrPtr     = &superiorAxis->firstSubordinateLink;

     while( true ) {

          Link*  subLink              = *subordinateLinkPtrPtr;

          if ( ! subLink )

               break; // not found program error


          if ( subLink == this ) {

               *subordinateLinkPtrPtr  = nextSubordinateLink;

               break; };


          subordinateLinkPtrPtr       = &subLink->nextSubordinateLink; }; };


void

     Link::calculateTransformedTargets( float microstepDeltaF ) {

     

     subordinateAxis->interpolationMicrostepBuffer += microstepDeltaF * scale; };