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Add custom types for position (#15204)

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This commit is contained in:
Scott Lahteine
2019-09-29 04:25:39 -05:00
committed by GitHub
parent 43d6e9fa43
commit 50e4545255
227 changed files with 3147 additions and 3264 deletions
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41
Marlin/src/module/delta.h
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@@ -25,17 +25,18 @@
* delta.h - Delta-specific functions
*/
extern float delta_height,
delta_endstop_adj[ABC],
delta_radius,
#include "../core/types.h"
extern float delta_height;
extern abc_float_t delta_endstop_adj;
extern float delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[ABC];
extern float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height;
delta_calibration_radius;
extern abc_float_t delta_tower_angle_trim;
extern xy_float_t delta_tower[ABC];
extern abc_float_t delta_diagonal_rod_2_tower;
extern float delta_clip_start_height;
/**
* Recalculate factors used for delta kinematics whenever
@@ -63,24 +64,16 @@ 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 + SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \
delta_tower[T].x - V.x, \
delta_tower[T].y - V.y \
) \
)
#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); \
}while(0)
#define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS))
void inverse_kinematics(const float (&raw)[XYZ]);
FORCE_INLINE void inverse_kinematics(const float (&raw)[XYZE]) {
const float raw_xyz[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
inverse_kinematics(raw_xyz);
}
void inverse_kinematics(const xyz_pos_t &raw);
/**
* Calculate the highest Z position where the
@@ -115,8 +108,8 @@ float delta_safe_distance_from_top();
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3);
FORCE_INLINE void forward_kinematics_DELTA(const float (&point)[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
FORCE_INLINE void forward_kinematics_DELTA(const abc_float_t &point) {
forward_kinematics_DELTA(point.a, point.b, point.c);
}
void home_delta();