diff options
Diffstat (limited to 'src/Movement/Kinematics/RotaryDeltaKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/RotaryDeltaKinematics.cpp | 19 |
1 files changed, 8 insertions, 11 deletions
diff --git a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp index 60da78e5..72172997 100644 --- a/src/Movement/Kinematics/RotaryDeltaKinematics.cpp +++ b/src/Movement/Kinematics/RotaryDeltaKinematics.cpp @@ -242,9 +242,8 @@ bool RotaryDeltaKinematics::IsReachable(float x, float y, bool isCoordinated) co // Limit the Cartesian position that the user wants to move to returning true if we adjusted the position LimitPositionResult RotaryDeltaKinematics::LimitPosition(float finalCoords[], const float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated, bool applyM208Limits) const { - constexpr AxesBitmap allAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); bool limited = false; - if ((axesHomed & allAxes) == allAxes) + if ((axesHomed & XyzAxes) == XyzAxes) { // If axes have been homed on a rotary delta printer and this isn't a homing move, check for movements outside limits. // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing @@ -293,10 +292,9 @@ void RotaryDeltaKinematics::GetAssumedInitialPosition(size_t numAxes, float posi AxesBitmap RotaryDeltaKinematics::AxesAssumedHomed(AxesBitmap g92Axes) const { // If all of X, Y and Z have been specified then we know the positions of all 3 tower motors, otherwise we don't - constexpr AxesBitmap xyzAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); - if ((g92Axes & xyzAxes) != xyzAxes) + if ((g92Axes & XyzAxes) != XyzAxes) { - g92Axes &= ~xyzAxes; + g92Axes &= ~XyzAxes; } return g92Axes; } @@ -304,10 +302,9 @@ AxesBitmap RotaryDeltaKinematics::AxesAssumedHomed(AxesBitmap g92Axes) const // Return the set of axes that must be homed prior to regular movement of the specified axes AxesBitmap RotaryDeltaKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const { - constexpr AxesBitmap xyzAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); - if ((axesMoving & xyzAxes) != 0) + if (axesMoving.Intersects(XyzAxes)) { - axesMoving |= xyzAxes; + axesMoving |= XyzAxes; } return axesMoving; } @@ -318,10 +315,10 @@ AxesBitmap RotaryDeltaKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di AxesBitmap RotaryDeltaKinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const { // If homing X, Y or Z we must home all the towers - if ((toBeHomed & LowestNBits<AxesBitmap>(DELTA_AXES)) != 0) + if (toBeHomed.Intersects(AxesBitmap::MakeLowestNBits(DELTA_AXES))) { filename.copy("homedelta.g"); - return 0; + return AxesBitmap(); } return Kinematics::GetHomingFileName(toBeHomed, alreadyHomed, numVisibleAxes, filename); @@ -384,7 +381,7 @@ void RotaryDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *nor // This is called to determine whether we can babystep the specified axis independently of regular motion. AxesBitmap RotaryDeltaKinematics::GetLinearAxes() const { - return 0; + return AxesBitmap(); } // Calculate the motor position for a single tower from a Cartesian coordinate. |