@ -286,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE;
float current_position [ NUM_AXIS ] = { 0.0 } ;
static float destination [ NUM_AXIS ] = { 0.0 } ;
bool axis_known_position [ 3 ] = { false } ;
bool axis_homed [ 3 ] = { false } ;
bool axis_known_position [ XYZ ] = { false } ;
bool axis_homed [ XYZ ] = { false } ;
static long gcode_N , gcode_LastN , Stopped_gcode_LastN = 0 ;
@ -327,11 +327,11 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
float volumetric_multiplier [ EXTRUDERS ] = ARRAY_BY_EXTRUDERS1 ( 1.0 ) ;
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift [ 3 ] = { 0 } ;
float position_shift [ XYZ ] = { 0 } ;
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset [ 3 ] = { 0 } ;
float home_offset [ XYZ ] = { 0 } ;
// Software Endstops are based on the configured limits.
# if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
@ -462,11 +462,11 @@ static uint8_t target_extruder;
# define TOWER_2 Y_AXIS
# define TOWER_3 Z_AXIS
float delta [ 3 ] ;
float cartesian_position [ 3 ] = { 0 } ;
float delta [ ABC ] ;
float cartesian_position [ XYZ ] = { 0 } ;
# define SIN_60 0.8660254037844386
# define COS_60 0.5
float endstop_adj [ 3 ] = { 0 } ;
float endstop_adj [ ABC ] = { 0 } ;
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS ;
float delta_tower1_x = - SIN_60 * ( delta_radius + DELTA_RADIUS_TRIM_TOWER_1 ) ; // front left tower
@ -495,8 +495,8 @@ static uint8_t target_extruder;
# if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND ;
float delta [ 3 ] ;
float axis_scaling [ 3 ] = { 1 , 1 , 1 } ; // Build size scaling, default to 1
float delta [ ABC ] ;
float axis_scaling [ ABC ] = { 1 , 1 , 1 } ; // Build size scaling, default to 1
# endif
# if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -1415,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY ( signed char , byte ) ;
# define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array # # _P [ 3 ] = \
static const PROGMEM type array # # _P [ XYZ ] = \
{ X_ # # CONFIG , Y_ # # CONFIG , Z_ # # CONFIG } ; \
static inline type array ( int axis ) \
{ return pgm_read_any ( & array # # _P [ axis ] ) ; }
@ -1555,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
if ( axis = = X_AXIS | | axis = = Y_AXIS ) {
float homeposition [ 3 ] ;
float homeposition [ XYZ ] ;
LOOP_XYZ ( i ) homeposition [ i ] = LOGICAL_POSITION ( base_home_pos ( i ) , i ) ;
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@ -7802,9 +7802,9 @@ void ok_to_send() {
delta_diagonal_rod_2_tower_3 = sq ( diagonal_rod + delta_diagonal_rod_trim_tower_3 ) ;
}
void inverse_kinematics ( const float in_cartesian [ 3 ] ) {
void inverse_kinematics ( const float in_cartesian [ XYZ ] ) {
const float cartesian [ 3 ] = {
const float cartesian [ XYZ ] = {
RAW_X_POSITION ( in_cartesian [ X_AXIS ] ) ,
RAW_Y_POSITION ( in_cartesian [ Y_AXIS ] ) ,
RAW_Z_POSITION ( in_cartesian [ Z_AXIS ] )
@ -7834,7 +7834,7 @@ void ok_to_send() {
}
float delta_safe_distance_from_top ( ) {
float cartesian [ 3 ] = {
float cartesian [ XYZ ] = {
LOGICAL_X_POSITION ( 0 ) ,
LOGICAL_Y_POSITION ( 0 ) ,
LOGICAL_Z_POSITION ( 0 )
@ -7915,20 +7915,20 @@ void ok_to_send() {
cartesian_position [ Z_AXIS ] = z1 + ex [ 2 ] * Xnew + ey [ 2 ] * Ynew - ez [ 2 ] * Znew ;
} ;
void forward_kinematics_DELTA ( float point [ 3 ] ) {
forward_kinematics_DELTA ( point [ X _AXIS] , point [ Y _AXIS] , point [ Z _AXIS] ) ;
void forward_kinematics_DELTA ( float point [ ABC ] ) {
forward_kinematics_DELTA ( point [ A _AXIS] , point [ B _AXIS] , point [ C _AXIS] ) ;
}
void set_cartesian_from_steppers ( ) {
forward_kinematics_DELTA ( stepper . get_axis_position_mm ( X _AXIS) ,
stepper . get_axis_position_mm ( Y _AXIS) ,
stepper . get_axis_position_mm ( Z _AXIS) ) ;
forward_kinematics_DELTA ( stepper . get_axis_position_mm ( A _AXIS) ,
stepper . get_axis_position_mm ( B _AXIS) ,
stepper . get_axis_position_mm ( C _AXIS) ) ;
}
# if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta ( float cartesian [ 3 ] ) {
void adjust_delta ( float cartesian [ XYZ ] ) {
if ( delta_grid_spacing [ X_AXIS ] = = 0 | | delta_grid_spacing [ Y_AXIS ] = = 0 ) return ; // G29 not done!
int half = ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) / 2 ;
@ -8401,8 +8401,8 @@ void prepare_move_to_destination() {
# if ENABLED(SCARA)
void forward_kinematics_SCARA ( float f_scara [ 3 ] ) {
// Perform forward kinematics, and place results in delta[3 ]
void forward_kinematics_SCARA ( float f_scara [ ABC ] ) {
// Perform forward kinematics, and place results in delta[]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin , x_cos , y_sin , y_cos ;
@ -8427,9 +8427,9 @@ void prepare_move_to_destination() {
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void inverse_kinematics ( const float cartesian [ 3 ] ) {
void inverse_kinematics ( const float cartesian [ XYZ ] ) {
// Inverse kinematics.
// Perform SCARA IK and place results in delta[3 ].
// Perform SCARA IK and place results in delta[].
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.
Scott Lahteine
8 years ago