From 35a610abf96ddbd8a0bf09a8cd91580a63753c2f Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 22 Jul 2016 17:42:48 -0700 Subject: [PATCH] const arg to inverse_kinematics --- Marlin/Marlin.h | 4 ++-- Marlin/Marlin_main.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 7ed7d37cbc..4285318852 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -315,7 +315,7 @@ float code_value_temp_diff(); extern float delta_diagonal_rod_trim_tower_1; extern float delta_diagonal_rod_trim_tower_2; extern float delta_diagonal_rod_trim_tower_3; - void inverse_kinematics(float cartesian[3]); + void inverse_kinematics(const float cartesian[3]); void recalc_delta_settings(float radius, float diagonal_rod); #if ENABLED(AUTO_BED_LEVELING_FEATURE) extern int delta_grid_spacing[2]; @@ -323,7 +323,7 @@ float code_value_temp_diff(); #endif #elif ENABLED(SCARA) extern float axis_scaling[3]; // Build size scaling - void inverse_kinematics(float cartesian[3]); + void inverse_kinematics(const float cartesian[3]); void forward_kinematics_SCARA(float f_scara[3]); #endif diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 3677ad2d89..f36c175b47 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -7737,7 +7737,7 @@ void clamp_to_software_endstops(float target[3]) { delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); } - void inverse_kinematics(float cartesian[3]) { + void inverse_kinematics(const float in_cartesian[3]) { delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1 - sq(delta_tower1_x - cartesian[X_AXIS]) @@ -8353,7 +8353,7 @@ void prepare_move_to_destination() { //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); } - void inverse_kinematics(float cartesian[3]) { + void inverse_kinematics(const float cartesian[3]) { // Inverse kinematics. // Perform SCARA IK and place results in delta[3]. // The maths and first version were done by QHARLEY.