diff options
| -rw-r--r-- | src/Movement/Kinematics/RotaryDeltaKinematics.cpp | 4 | ||||
| -rw-r--r-- | src/Version.h | 2 |
2 files changed, 3 insertions, 3 deletions
diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp index 584529a9..beb902e1 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp @@ -472,7 +472,7 @@ void RotaryDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float const float Db2 = fsquare(posBX) + fsquare(posBY) + fsquare(posBZ); const float Dc2 = fsquare(posCX) + fsquare(posCY) + fsquare(posCZ); - // Calculate PQRST such that x = (Qz + S)/P, y = (Rz + T)/P. + // Calculate PQRST such that x = (Qz + S)/P, y = -(Rz + T)/P. const float P = (posBX * posCY - posAX * posCY - posCX * posBY + posAX * posBY + posCX * posAY - posBX * posAY) * 2; const float Q = ((posBY - posAY) * posCZ + (posAY - posCY) * posBZ + (posCY - posBY) * posAZ) * 2; const float R = ((posBX - posAX) * posCZ + (posAX - posCX) * posBZ + (posCX - posBX) * posAZ) * 2; @@ -495,7 +495,7 @@ void RotaryDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float // Substitute back for X and Y machinePos[X_AXIS] = (Q * z + S)/P; - machinePos[Y_AXIS] = (R * z + T)/P; + machinePos[Y_AXIS] = -(R * z + T)/P; machinePos[Z_AXIS] = z; if (reprap.Debug(moduleMove)) diff --git a/src/Version.h b/src/Version.h index 196df678..153d893b 100644 --- a/src/Version.h +++ b/src/Version.h @@ -9,7 +9,7 @@ #define SRC_VERSION_H_ #ifndef VERSION -# define MAIN_VERSION "3.3beta1" +# define MAIN_VERSION "3.3beta1+1" # ifdef USE_CAN0 # define VERSION_SUFFIX " (CAN0)" # else |