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Clarify some motion code

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Scott Lahteine
2017-11-08 22:13:33 -06:00
parent 10896b9431
commit 0cfb936dd1
8 changed files with 21 additions and 23 deletions
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14
Marlin/src/module/planner.h
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@ -376,18 +376,18 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] };
apply_leveling(lpos);
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw);
#else
const float * const lpos = rtarget;
const float * const raw = cart;
#endif
#if IS_KINEMATIC
inverse_kinematics(lpos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
inverse_kinematics(raw);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
_buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#endif
}