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Use a, b, c instead of lx, ly, lz

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This commit is contained in:
Scott Lahteine
2016-10-09 13:25:25 -05:00
parent f8c2473a71
commit c5cac486f5
5 changed files with 116 additions and 111 deletions
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29
Marlin/planner.h
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@ -232,27 +232,32 @@ class Planner {
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Doesn't apply the leveling.
* Add a new direct linear movement to the buffer.
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move
* Leveling and kinematics should be applied ahead of this.
*
* a,b,c,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static void _buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder);
static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &lx, const float &ly, const float &lz, const float &e);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
/**
* Add a new linear movement to the buffer.
* The target is NOT translated to delta/scara
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* Leveling will be applied to input on cartesians.
* Kinematic machines should call buffer_line_kinematic (for leveled moves).
* (Cartesians may also call buffer_line_kinematic.)
*
* lx,ly,lz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
@ -267,7 +272,7 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float target[NUM_AXIS], float fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], 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);
@ -292,7 +297,7 @@ class Planner {
* Clears previous speed values.
*/
static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_set_position_mm(lx, ly, lz, e);