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Use set_current_from_steppers for other kinematics

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Scott Lahteine 2016-07-21 14:35:48 -07:00
parent 5db9b940ee
commit 9f30cc84ce
2 changed files with 24 additions and 13 deletions
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1
Marlin/Marlin.h
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@ -318,7 +318,6 @@ float code_value_temp_diff();
void calculate_delta(float cartesian[3]); void calculate_delta(float cartesian[3]);
void recalc_delta_settings(float radius, float diagonal_rod); void recalc_delta_settings(float radius, float diagonal_rod);
float delta_safe_distance_from_top(); float delta_safe_distance_from_top();
void set_current_from_steppers();
void set_cartesian_from_steppers(); void set_cartesian_from_steppers();
void forwardKinematics(float point[3]); void forwardKinematics(float point[3]);
void forwardKinematics(float z1, float z2, float z3); void forwardKinematics(float z1, float z2, float z3);

36
Marlin/Marlin_main.cpp
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@ -462,7 +462,7 @@ static uint8_t target_extruder;
#define TOWER_3 Z_AXIS #define TOWER_3 Z_AXIS
float delta[3] = { 0 }; float delta[3] = { 0 };
float cartesian[3] = { 0 }; float cartesian_position[3] = { 0 };
#define SIN_60 0.8660254037844386 #define SIN_60 0.8660254037844386
#define COS_60 0.5 #define COS_60 0.5
float endstop_adj[3] = { 0 }; float endstop_adj[3] = { 0 };
@ -564,6 +564,7 @@ void stop();
void get_available_commands(); void get_available_commands();
void process_next_command(); void process_next_command();
void prepare_move_to_destination(); void prepare_move_to_destination();
void set_current_from_steppers();
#if ENABLED(ARC_SUPPORT) #if ENABLED(ARC_SUPPORT)
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
@ -7801,7 +7802,7 @@ void clamp_to_software_endstops(float target[3]) {
// based on a Java function from // based on a Java function from
// "Delta Robot Kinematics by Steve Graves" V3 // "Delta Robot Kinematics by Steve Graves" V3
// Result is in cartesian[]. // Result is in cartesian_position[].
//Create a vector in old coordinates along x axis of new coordinate //Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 }; float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
@ -7845,9 +7846,9 @@ void clamp_to_software_endstops(float target[3]) {
//Now we can start from the origin in the old coords and //Now we can start from the origin in the old coords and
//add vectors in the old coords that represent the //add vectors in the old coords that represent the
//Xnew, Ynew and Znew to find the point in the old system //Xnew, Ynew and Znew to find the point in the old system
cartesian[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew; cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
cartesian[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew; cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
cartesian[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew; cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
}; };
void forwardKinematics(float point[3]) { void forwardKinematics(float point[3]) {
@ -7860,13 +7861,6 @@ void clamp_to_software_endstops(float target[3]) {
stepper.get_axis_position_mm(Z_AXIS)); stepper.get_axis_position_mm(Z_AXIS));
} }
void set_current_from_steppers() {
set_cartesian_from_steppers();
current_position[X_AXIS] = cartesian[X_AXIS];
current_position[Y_AXIS] = cartesian[Y_AXIS];
current_position[Z_AXIS] = cartesian[Z_AXIS];
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array. // Adjust print surface height by linear interpolation over the bed_level array.
@ -7911,6 +7905,24 @@ void clamp_to_software_endstops(float target[3]) {
#endif // DELTA #endif // DELTA
void set_current_from_steppers() {
#if ENABLED(DELTA)
set_cartesian_from_steppers();
current_position[X_AXIS] = cartesian_position[X_AXIS];
current_position[Y_AXIS] = cartesian_position[Y_AXIS];
current_position[Z_AXIS] = cartesian_position[Z_AXIS];
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = planner.adjusted_position(); // values directly from steppers...
current_position[X_AXIS] = pos.x;
current_position[Y_AXIS] = pos.y;
current_position[Z_AXIS] = pos.z;
#else
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
// This function is used to split lines on mesh borders so each segment is only part of one mesh area // This function is used to split lines on mesh borders so each segment is only part of one mesh area