diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-02-20 12:55:54 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-02-20 12:55:54 +0300 |
| commit | 9a97cb757731ab7fb6d624ddaf3dd6445e4538a6 (patch) | |
| tree | d8807b48729a88a5ba292d6b0ac2a773f3c8b7a2 /src/Movement/Kinematics/FiveBarScaraKinematics.cpp | |
| parent | 161de091a2ff7c4506b33132d8d6a7badcb1835f (diff) | |
Added option to configure segmentation on all kinematics
Diffstat (limited to 'src/Movement/Kinematics/FiveBarScaraKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/FiveBarScaraKinematics.cpp | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp index 8428d08e..7f8964b8 100644 --- a/src/Movement/Kinematics/FiveBarScaraKinematics.cpp +++ b/src/Movement/Kinematics/FiveBarScaraKinematics.cpp @@ -42,7 +42,7 @@ DEFINE_GET_OBJECT_MODEL_TABLE_WITH_PARENT(FiveBarScaraKinematics, ZLeadscrewKine #endif FiveBarScaraKinematics::FiveBarScaraKinematics() noexcept - : ZLeadscrewKinematics(KinematicsType::scara, DefaultSegmentsPerSecond, DefaultMinSegmentSize, true) + : ZLeadscrewKinematics(KinematicsType::scara, true, true) { Recalc(); } @@ -550,7 +550,6 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons gb.MustSee('D'); bool seen = false; - bool seenNonGeometry = false; // parameter X: x origins of actuators float paraX[2]; @@ -687,6 +686,7 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons // optional rectangle definition of a print area. Must match the workmode reachable area //TODO is this needed? Why not use the M208 limits instead? + bool seenNonGeometry = TryConfigureSegmentation(gb); if (gb.Seen('Z')) { float coordinates[4]; @@ -702,9 +702,6 @@ bool FiveBarScaraKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, cons printAreaDefined = false; } - gb.TryGetFValue('S', segmentsPerSecond, seenNonGeometry); // value defined in Kinematics.h - gb.TryGetFValue('T', minSegmentLength, seenNonGeometry); // value defined in Kinematics.h - if (seen) { Recalc(); |