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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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13
Marlin/src/module/delta.h
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@@ -47,7 +47,7 @@ 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
@@ -88,16 +88,7 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
delta[C_AXIS] = DELTA_Z(C_AXIS); \
}while(0)
#define DELTA_LOGICAL_IK() do { \
const float raw[XYZ] = { \
RAW_X_POSITION(logical[X_AXIS]), \
RAW_Y_POSITION(logical[Y_AXIS]), \
RAW_Z_POSITION(logical[Z_AXIS]) \
}; \
DELTA_RAW_IK(); \
}while(0)
void inverse_kinematics(const float logical[XYZ]);
void inverse_kinematics(const float raw[XYZ]);
/**
* Calculate the highest Z position where the