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References are better for array args

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Scott Lahteine
2017-12-09 02:10:54 -06:00
parent 125c572d97
commit 73e32925e4
13 changed files with 48 additions and 42 deletions
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14
Marlin/src/module/planner.cpp
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@ -1466,18 +1466,18 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
ZERO(previous_speed);
}
void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
#if PLANNER_LEVELING
float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[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 = position;
const float (&raw)[XYZE] = cart;
#endif
#if IS_KINEMATIC
inverse_kinematics(lpos);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
inverse_kinematics(raw);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
#else
_set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
_set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
#endif
}