SunRed/Marlin-Artillery-M600
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Fix Planner::unskew parity with skew

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Scott Lahteine 2017-12-13 17:46:48 -06:00
parent 21a7b4f26d
commit 368c124de8
1 changed files with 3 additions and 3 deletions
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6
Marlin/src/module/planner.h
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@ -353,8 +353,8 @@ class Planner {
FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) { FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) { if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))), const float sx = cx - cy * xy_skew_factor - cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
sy = cy - (cz * yz_skew_factor); sy = cy - cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy; cx = sx; cy = sy;
} }
@ -363,7 +363,7 @@ class Planner {
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) { FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor, const float sx = cx + cy * xy_skew_factor + cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
sy = cy + cz * yz_skew_factor; sy = cy + cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy; cx = sx; cy = sy;