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