diff options
Diffstat (limited to 'src/Movement/Kinematics/CartesianKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/CartesianKinematics.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/Movement/Kinematics/CartesianKinematics.cpp b/src/Movement/Kinematics/CartesianKinematics.cpp index db884171..f9a889b1 100644 --- a/src/Movement/Kinematics/CartesianKinematics.cpp +++ b/src/Movement/Kinematics/CartesianKinematics.cpp @@ -19,7 +19,7 @@ const char *CartesianKinematics::GetName(bool forStatusReport) const } // Convert Cartesian coordinates to motor coordinates -bool CartesianKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const +bool CartesianKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const { for (size_t axis = 0; axis < numVisibleAxes; ++axis) { @@ -50,7 +50,14 @@ bool CartesianKinematics::QueryTerminateHomingMove(size_t axis) const void CartesianKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const { const float hitPoint = (highEnd) ? reprap.GetPlatform().AxisMaximum(axis) : reprap.GetPlatform().AxisMinimum(axis); - dda.SetDriveCoordinate(hitPoint * stepsPerMm[axis], axis); + dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis); +} + +// Limit the speed and acceleration of a move to values that the mechanics can handle. +// The speeds in Cartesian space have already been limited. +void CartesianKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +{ + // The axes of a Cartesian printer move independently, so there is nothing to do here } // End |