SunRed/Marlin-Artillery-M600
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Rename set_cartesian_from_steppers, cartesian_position

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Scott Lahteine 2016-09-11 21:45:07 -05:00
parent c109399bf6
commit e529c6407e
1 changed files with 13 additions and 13 deletions
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26
Marlin/Marlin_main.cpp
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@ -465,7 +465,7 @@ static uint8_t target_extruder;
#define COS_60 0.5 #define COS_60 0.5
float delta[ABC], float delta[ABC],
cartesian_position[XYZ] = { 0 }, cartes[XYZ] = { 0 },
endstop_adj[ABC] = { 0 }; endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665 // these are the default values, can be overriden with M665
@ -487,7 +487,7 @@ static uint8_t target_extruder;
delta_clip_start_height = Z_MAX_POS; delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top(); float delta_safe_distance_from_top();
void set_cartesian_from_steppers(); void get_cartesian_from_steppers();
#else #else
@ -509,8 +509,8 @@ static uint8_t target_extruder;
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND, float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
delta[ABC], delta[ABC],
axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1 axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1
cartesian_position[XYZ] = { 0 }; cartes[XYZ] = { 0 };
void set_cartesian_from_steppers() { } // to be written later void get_cartesian_from_steppers() { } // to be written later
#endif #endif
#if ENABLED(FILAMENT_WIDTH_SENSOR) #if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -3412,8 +3412,8 @@ inline void gcode_G28() {
// For DELTA/SCARA we need to apply forward kinematics. // For DELTA/SCARA we need to apply forward kinematics.
// This returns raw positions and we remap to the space. // This returns raw positions and we remap to the space.
set_cartesian_from_steppers(); get_cartesian_from_steppers();
LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartesian_position[i], i); LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartes[i], i);
#else #else
@ -7741,7 +7741,7 @@ void ok_to_send() {
// based on a Java function from // based on a Java function from
// "Delta Robot Kinematics by Steve Graves" V3 // "Delta Robot Kinematics by Steve Graves" V3
// Result is in cartesian_position[]. // Result is in cartes[].
//Create a vector in old coordinates along x axis of new coordinate //Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 }; float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
@ -7785,16 +7785,16 @@ void ok_to_send() {
//Now we can start from the origin in the old coords and //Now we can start from the origin in the old coords and
//add vectors in the old coords that represent the //add vectors in the old coords that represent the
//Xnew, Ynew and Znew to find the point in the old system //Xnew, Ynew and Znew to find the point in the old system
cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew; cartes[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew; cartes[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew; cartes[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
}; };
void forward_kinematics_DELTA(float point[ABC]) { void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
} }
void set_cartesian_from_steppers() { void get_cartesian_from_steppers() {
forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS), forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS), stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)); stepper.get_axis_position_mm(C_AXIS));
@ -7846,8 +7846,8 @@ void ok_to_send() {
void set_current_from_steppers_for_axis(AxisEnum axis) { void set_current_from_steppers_for_axis(AxisEnum axis) {
#if ENABLED(DELTA) #if ENABLED(DELTA)
set_cartesian_from_steppers(); get_cartesian_from_steppers();
current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis); current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
#elif ENABLED(AUTO_BED_LEVELING_FEATURE) #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = untilted_stepper_position(); vector_3 pos = untilted_stepper_position();
current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z; current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;