0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

const float ref args in planner.h

Browse source
This commit is contained in:
Scott Lahteine 2016-10-27 05:53:24 -05:00
parent 07bfc45df8
commit 8e787304c9
1 changed files with 8 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

16
Marlin/planner.h
View file

@ -264,7 +264,7 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s) * fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder * extruder - target extruder
*/ */
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) { static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && IS_CARTESIAN #if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz); apply_leveling(lx, ly, lz);
#endif #endif
@ -280,7 +280,7 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s) * fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder * extruder - target extruder
*/ */
static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], float fr_mm_s, const uint8_t extruder) { static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING #if PLANNER_LEVELING
float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] }; float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
apply_leveling(pos); apply_leveling(pos);
@ -311,9 +311,9 @@ class Planner {
_set_position_mm(lx, ly, lz, e); _set_position_mm(lx, ly, lz, e);
} }
static void set_position_mm_kinematic(const float position[NUM_AXIS]); static void set_position_mm_kinematic(const float position[NUM_AXIS]);
static void set_position_mm(const AxisEnum axis, const float& v); static void set_position_mm(const AxisEnum axis, const float &v);
static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); } static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); } static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
/** /**
* Sync from the stepper positions. (e.g., after an interrupted move) * Sync from the stepper positions. (e.g., after an interrupted move)
@ -369,7 +369,7 @@ class Planner {
* Calculate the distance (not time) it takes to accelerate * Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration: * from initial_rate to target_rate using the given acceleration:
*/ */
static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) { static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0 if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
return (sq(target_rate) - sq(initial_rate)) / (accel * 2); return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
} }
@ -382,7 +382,7 @@ class Planner {
* This is used to compute the intersection point between acceleration and deceleration * This is used to compute the intersection point between acceleration and deceleration
* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed) * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
*/ */
static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) { static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
if (accel == 0) return 0; // accel was 0, set intersection distance to 0 if (accel == 0) return 0; // accel was 0, set intersection distance to 0
return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4); return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
} }
@ -392,7 +392,7 @@ class Planner {
* to reach 'target_velocity' using 'acceleration' within a given * to reach 'target_velocity' using 'acceleration' within a given
* 'distance'. * 'distance'.
*/ */
static float max_allowable_speed(float accel, float target_velocity, float distance) { static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) {
return sqrt(sq(target_velocity) - 2 * accel * distance); return sqrt(sq(target_velocity) - 2 * accel * distance);
} }