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Clarify what are "logical" positions in the planner

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Scott Lahteine 2016-12-15 22:26:37 -08:00
parent a4f10f59c3
commit 87921f390a
2 changed files with 13 additions and 13 deletions
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10
Marlin/planner.cpp
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@ -1372,16 +1372,16 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
#if PLANNER_LEVELING
float pos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
apply_leveling(pos);
float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
apply_leveling(lpos);
#else
const float * const pos = position;
const float * const lpos = position;
#endif
#if IS_KINEMATIC
inverse_kinematics(pos);
inverse_kinematics(lpos);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
#else
_set_position_mm(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], position[E_AXIS]);
_set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
#endif
}

16
Marlin/planner.h
View file

@ -308,22 +308,22 @@ class Planner {
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* target - x,y,z,e CARTESIAN target in mm
* ltarget - x,y,z,e CARTESIAN target in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], const float &fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
apply_leveling(pos);
float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
apply_leveling(lpos);
#else
const float * const pos = target;
const float * const lpos = ltarget;
#endif
#if IS_KINEMATIC
inverse_kinematics(pos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
inverse_kinematics(lpos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
#endif
}