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Some cleanup of st_get_pos functions

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This commit is contained in:
Scott Lahteine
2016-04-11 01:03:10 -07:00
parent fdee2be49c
commit e087a99a10
3 changed files with 26 additions and 7 deletions
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19
Marlin/stepper.cpp
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@ -1099,15 +1099,22 @@ void st_set_e_position(const long& e) {
CRITICAL_SECTION_END;
}
long st_get_position(uint8_t axis) {
/**
* Get a stepper's position in steps.
*/
long st_get_position(AxisEnum axis) {
CRITICAL_SECTION_START;
long count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
/**
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
float st_get_axis_position_mm(AxisEnum axis) {
float axis_pos;
float axis_steps;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
@ -1116,14 +1123,14 @@ float st_get_axis_position_mm(AxisEnum axis) {
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
}
else
axis_pos = st_get_position(axis);
axis_steps = st_get_position(axis);
#else
axis_pos = st_get_position(axis);
axis_steps = st_get_position(axis);
#endif
return axis_pos / axis_steps_per_unit[axis];
return axis_steps / axis_steps_per_unit[axis];
}
void finishAndDisableSteppers() {