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Optimize delta kinematics

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
2018-07-04 22:28:34 -05:00
parent 1367df2875
commit 2992112da0
2 changed files with 21 additions and 21 deletions
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8
Marlin/src/module/delta.h
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@@ -65,14 +65,14 @@ void recalc_delta_settings();
*/
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(V,T) V[Z_AXIS] + SQRT( \
#define DELTA_Z(V,T) V[Z_AXIS] + SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \
) \
)
#define DELTA_IK(V) do { \
#define DELTA_IK(V) do { \
delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
@@ -111,9 +111,9 @@ float delta_safe_distance_from_top();
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(float z1, float z2, float z3);
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3);
FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
FORCE_INLINE void forward_kinematics_DELTA(const float (&point)[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}