Pre-calculate diagonal rod length squared

11 years ago · 9bf1cf1b22
2 changed files with 6 additions and 3 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -107,6 +107,9 @@
 #define DELTA_TOWER3_X 0.0 // back middle tower
 #define DELTA_TOWER3_Y DELTA_RADIUS

+// Diagonal rod squared
+#define DELTA_DIAGONAL_ROD_2 pow(DELTA_DIAGONAL_ROD,2)
+
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -2254,15 +2254,15 @@ void clamp_to_software_endstops(float target[3])
 #ifdef DELTA
 void calculate_delta(float cartesian[3])
 {
-  delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+  delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
                       - sq(DELTA_TOWER1_X-cartesian[X_AXIS])
                       - sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];
-  delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+  delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
                       - sq(DELTA_TOWER2_X-cartesian[X_AXIS])
                       - sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];
-  delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
+  delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
                       - sq(DELTA_TOWER3_X-cartesian[X_AXIS])
                       - sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
                       ) + cartesian[Z_AXIS];