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Macros to eliminate 'f + 0.0' (#21568)

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This commit is contained in:
Ramiro Polla
2021-04-09 04:03:34 +02:00
committed by GitHub
parent 19320a1f8f
commit 1a2cbe100c
10 changed files with 25 additions and 18 deletions
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6
Marlin/src/module/scara.cpp
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@@ -51,8 +51,8 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
void forward_kinematics(const_float_t a, const_float_t b) {
const float a_sin = sin(RADIANS(a)) * L1,
a_cos = cos(RADIANS(a)) * L1,
b_sin = sin(RADIANS(b + TERN0(MP_SCARA, a))) * L2,
b_cos = cos(RADIANS(b + TERN0(MP_SCARA, a))) * L2;
b_sin = sin(RADIANS(SUM_TERN(MP_SCARA, b, a))) * L2,
b_cos = cos(RADIANS(SUM_TERN(MP_SCARA, b, a))) * L2;
cartes.x = a_cos + b_cos + scara_offset.x; // theta
cartes.y = a_sin + b_sin + scara_offset.y; // phi
@@ -127,7 +127,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
// Angle of Arm2
PSI = ATAN2(S2, C2);
delta.set(DEGREES(THETA), DEGREES(PSI + TERN0(MORGAN_SCARA, THETA)), raw.z);
delta.set(DEGREES(THETA), DEGREES(SUM_TERN(MORGAN_SCARA, PSI, THETA)), raw.z);
/*
DEBUG_POS("SCARA IK", raw);