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Improve planner kinematics, fix delta ABL

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This commit is contained in:
Josef Pavlik
2016-10-06 10:56:05 +02:00
committed by Scott Lahteine
parent 48761f2021
commit f8c2473a71
6 changed files with 102 additions and 82 deletions
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8
Marlin/planner_bezier.cpp
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@ -187,13 +187,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
clamp_to_software_endstops(bez_target);
#if IS_KINEMATIC
inverse_kinematics(bez_target);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
#else
planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
#endif
planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
}
}