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Apply maths macros and type changes ahead of HAL

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This commit is contained in:
Scott Lahteine
2017-06-19 22:39:23 -05:00
parent 0c616700f3
commit 6c45d0fd81
26 changed files with 181 additions and 166 deletions
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10
Marlin/ubl_motion.cpp
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@ -492,15 +492,15 @@
#if ENABLED(DELTA) // apply delta inverse_kinematics
const float delta_A = rz + sqrt( delta_diagonal_rod_2_tower[A_AXIS]
const float delta_A = rz + SQRT( delta_diagonal_rod_2_tower[A_AXIS]
- HYPOT2( delta_tower[A_AXIS][X_AXIS] - rx,
delta_tower[A_AXIS][Y_AXIS] - ry ));
const float delta_B = rz + sqrt( delta_diagonal_rod_2_tower[B_AXIS]
const float delta_B = rz + SQRT( delta_diagonal_rod_2_tower[B_AXIS]
- HYPOT2( delta_tower[B_AXIS][X_AXIS] - rx,
delta_tower[B_AXIS][Y_AXIS] - ry ));
const float delta_C = rz + sqrt( delta_diagonal_rod_2_tower[C_AXIS]
const float delta_C = rz + SQRT( delta_diagonal_rod_2_tower[C_AXIS]
- HYPOT2( delta_tower[C_AXIS][X_AXIS] - rx,
delta_tower[C_AXIS][Y_AXIS] - ry ));
@ -516,8 +516,8 @@
inverse_kinematics(lseg); // this writes delta[ABC] from lseg[XYZ]
// should move the feedrate scaling to scara inverse_kinematics
float adiff = abs(delta[A_AXIS] - scara_oldA),
bdiff = abs(delta[B_AXIS] - scara_oldB);
const float adiff = FABS(delta[A_AXIS] - scara_oldA),
bdiff = FABS(delta[B_AXIS] - scara_oldB);
scara_oldA = delta[A_AXIS];
scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;