// © 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

#ifndef SplineAxis_h

#define SplineAxis_h


#include "Energia.h"


class Axis;


class SplineAxis {

     private:

    float         p2, p3, p4; // bezier points

    float         currentPoint;


     public:

    enum Type {

          Invalid,

          Linear,

          Bezier } type;


     SplineAxis(

          char*          coordinate,

          Axis*          firstMachineAxis,

          String*          msgPtr );


    bool          valid();


    void          calculateProgramTarget(

          float t,

          float p2f,

          float p3f,

          float p4f );


    Axis*         axis;

    SplineAxis*   nextSplineAxis; };


#endif