diff options
Diffstat (limited to 'src/Movement/Kinematics/CoreBaseKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/CoreBaseKinematics.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/Movement/Kinematics/CoreBaseKinematics.cpp b/src/Movement/Kinematics/CoreBaseKinematics.cpp index 1054d285..15013557 100644 --- a/src/Movement/Kinematics/CoreBaseKinematics.cpp +++ b/src/Movement/Kinematics/CoreBaseKinematics.cpp @@ -10,16 +10,16 @@ CoreBaseKinematics::CoreBaseKinematics(KinematicsType t) : Kinematics(t) { - for (size_t axis = 0; axis < CART_AXES; ++axis) + for (size_t axis = 0; axis < XYZ_AXES; ++axis) { axisFactors[axis] = 1.0; } } // Convert Cartesian coordinates to motor coordinates -bool CoreBaseKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numAxes, int32_t motorPos[]) const +bool CoreBaseKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[]) const { - for (size_t axis = 0; axis < numAxes; ++axis) + for (size_t axis = 0; axis < numVisibleAxes; ++axis) { motorPos[axis] = (int32_t)roundf(MotorFactor(axis, machinePos) * stepsPerMm[axis]); } @@ -28,12 +28,12 @@ bool CoreBaseKinematics::CartesianToMotorSteps(const float machinePos[], const f // Set the parameters from a M665, M666 or M669 command // Return true if we changed any parameters. Set 'error' true if there was an error, otherwise leave it alone. -bool CoreBaseKinematics::SetOrReportParameters(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) /*override*/ +bool CoreBaseKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) /*override*/ { if (mCode == 667) { bool seen = false; - for (size_t axis = 0; axis < CART_AXES; ++axis) + for (size_t axis = 0; axis < XYZ_AXES; ++axis) { if (gb.Seen(GCodes::axisLetters[axis])) { @@ -44,7 +44,7 @@ bool CoreBaseKinematics::SetOrReportParameters(unsigned int mCode, GCodeBuffer& if (!seen && !gb.Seen('S')) { reply.printf("Printer mode is %s with axis factors", GetName()); - for (size_t axis = 0; axis < CART_AXES; ++axis) + for (size_t axis = 0; axis < XYZ_AXES; ++axis) { reply.catf(" %c:%f", GCodes::axisLetters[axis], axisFactors[axis]); } @@ -53,7 +53,7 @@ bool CoreBaseKinematics::SetOrReportParameters(unsigned int mCode, GCodeBuffer& } else { - return Kinematics::SetOrReportParameters(mCode, gb, reply, error); + return Kinematics::Configure(mCode, gb, reply, error); } } |