diff options
Diffstat (limited to 'src/Movement/Kinematics/LinearDeltaKinematics.h')
| -rw-r--r-- | src/Movement/Kinematics/LinearDeltaKinematics.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.h b/src/Movement/Kinematics/LinearDeltaKinematics.h index 6a3bdc3f..bc09cb1c 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.h +++ b/src/Movement/Kinematics/LinearDeltaKinematics.h @@ -26,15 +26,15 @@ public: // Overridden base class functions. See Kinematics.h for descriptions. const char *GetName(bool forStatusReport) const override; bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override; - bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const override; + bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const override; void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const override; bool SupportsAutoCalibration() const override { return true; } bool DoAutoCalibration(size_t numFactors, const RandomProbePointSet& probePoints, StringRef& reply) override; void SetCalibrationDefaults() override { Init(); } bool WriteCalibrationParameters(FileStore *f) const override; float GetTiltCorrection(size_t axis) const override; - bool IsReachable(float x, float y) const override; - bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed) const override; + bool IsReachable(float x, float y, bool isCoordinated) const override; + bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const override; void GetAssumedInitialPosition(size_t numAxes, float positions[]) const override; AxesBitmap AxesToHomeBeforeProbing() const override { return MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); } MotionType GetMotionType(size_t axis) const override; @@ -45,6 +45,7 @@ public: bool QueryTerminateHomingMove(size_t axis) const override; void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const override; bool WriteResumeSettings(FileStore *f) const override; + void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override; // Public functions specific to this class float GetDiagonalSquared() const { return D2; } |