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Clarify what are "logical" positions in the planner

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Scott Lahteine
2016-12-15 22:26:37 -08:00
parent a4f10f59c3
commit 87921f390a
2 changed files with 13 additions and 13 deletions
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16
Marlin/planner.h
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@ -308,22 +308,22 @@ class Planner {
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* target - x,y,z,e CARTESIAN target in mm
* ltarget - x,y,z,e CARTESIAN target in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], const float &fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
apply_leveling(pos);
float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
apply_leveling(lpos);
#else
const float * const pos = target;
const float * const lpos = ltarget;
#endif
#if IS_KINEMATIC
inverse_kinematics(pos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
inverse_kinematics(lpos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
#endif
}