Merge pull request #4464 from thinkyhead/rc_fix_steps_per_mm_handling
Account for DELTA in Planner::refresh_positioning
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commit
c68ca95345
3 changed files with 9 additions and 3 deletions
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@ -314,6 +314,7 @@ float code_value_temp_diff();
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void adjust_delta(float cartesian[3]);
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#endif
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#elif ENABLED(SCARA)
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extern float delta[3];
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extern float axis_scaling[3]; // Build size scaling
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void inverse_kinematics(const float cartesian[3]);
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void forward_kinematics_SCARA(float f_scara[3]);
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@ -456,7 +456,7 @@ static uint8_t target_extruder;
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#define TOWER_2 Y_AXIS
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#define TOWER_3 Z_AXIS
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float delta[3] = { 0 };
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float delta[3];
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float cartesian_position[3] = { 0 };
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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@ -489,7 +489,7 @@ static uint8_t target_extruder;
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#if ENABLED(SCARA)
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float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
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static float delta[3] = { 0 };
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float delta[3];
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float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
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#endif
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@ -1183,7 +1183,12 @@ void Planner::reset_acceleration_rates() {
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// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
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void Planner::refresh_positioning() {
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LOOP_XYZE(i) planner.steps_to_mm[i] = 1.0 / planner.axis_steps_per_mm[i];
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#if ENABLED(DELTA) || ENABLED(SCARA)
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inverse_kinematics(current_position);
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set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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#else
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set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif
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reset_acceleration_rates();
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}
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