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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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14
Marlin/src/module/delta.cpp
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@@ -72,7 +72,7 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* Calculate the tower positions for a given machine
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
@@ -117,8 +117,8 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
}while(0)
void inverse_kinematics(const float logical[XYZ]) {
DELTA_LOGICAL_IK();
void inverse_kinematics(const float raw[XYZ]) {
DELTA_RAW_IK();
// DELTA_DEBUG();
}
@@ -127,14 +127,10 @@ void inverse_kinematics(const float logical[XYZ]) {
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
};
float cartesian[XYZ] = { 0, 0, 0 };
inverse_kinematics(cartesian);
float distance = delta[A_AXIS];
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
inverse_kinematics(cartesian);
return FABS(distance - delta[A_AXIS]);
}