diff options
Diffstat (limited to 'src/Movement/Kinematics/HangprinterKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/HangprinterKinematics.cpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp index a99e71ae..71566e83 100644 --- a/src/Movement/Kinematics/HangprinterKinematics.cpp +++ b/src/Movement/Kinematics/HangprinterKinematics.cpp @@ -6,6 +6,9 @@ */ #include "HangprinterKinematics.h" + +#if SUPPORT_HANGPRINTER + #include <Platform/RepRap.h> #include <Platform/Platform.h> #include <GCodes/GCodeBuffer/GCodeBuffer.h> @@ -521,7 +524,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float { // Force the anchor location norms Ax=0, Dx=0, Dy=0 // through a series of rotations. - float const x_angle = atan(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]); + float const x_angle = atanf(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]); float const rxt[3][3] = {{1, 0, 0}, {0, cosf(x_angle), sinf(x_angle)}, {0, -sinf(x_angle), cosf(x_angle)}}; float anchors_tmp0[4][3] = { 0 }; for (size_t row{0}; row < 4; ++row) { @@ -529,7 +532,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float anchors_tmp0[row][col] = rxt[0][col]*anchors[row][0] + rxt[1][col]*anchors[row][1] + rxt[2][col]*anchors[row][2]; } } - float const y_angle = atan(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]); + float const y_angle = atanf(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]); float const ryt[3][3] = {{cosf(y_angle), 0, -sinf(y_angle)}, {0, 1, 0}, {sinf(y_angle), 0, cosf(y_angle)}}; float anchors_tmp1[4][3] = { 0 }; for (size_t row{0}; row < 4; ++row) { @@ -537,7 +540,7 @@ void HangprinterKinematics::ForwardTransform(float const a, float const b, float anchors_tmp1[row][col] = ryt[0][col]*anchors_tmp0[row][0] + ryt[1][col]*anchors_tmp0[row][1] + ryt[2][col]*anchors_tmp0[row][2]; } } - float const z_angle = atan(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]); + float const z_angle = atanf(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]); float const rzt[3][3] = {{cosf(z_angle), sinf(z_angle), 0}, {-sinf(z_angle), cosf(z_angle), 0}, {0, 0, 1}}; for (size_t row{0}; row < 4; ++row) { for (size_t col{0}; col < 3; ++col) { @@ -778,4 +781,6 @@ GCodeResult HangprinterKinematics::SetODrive3TorqueMode(DriverId const driver, f } #endif // DUAL_CAN +#endif // SUPPORT_HANGPRINTER + // End |