diff options
Diffstat (limited to 'src/Movement/Move.cpp')
| -rw-r--r-- | src/Movement/Move.cpp | 50 |
1 files changed, 27 insertions, 23 deletions
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index a63ab16d..ab419fdd 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -185,10 +185,10 @@ void Move::Spin() if (simulationMode < 2) // in simulation mode 2 and higher, we don't process incoming moves beyond this point { - bool doMotorMapping = (nextMove.moveType == 0) || (nextMove.moveType == 1 && !IsDeltaMode()); + const bool doMotorMapping = (nextMove.moveType == 0) || (nextMove.moveType == 1 && !IsDeltaMode()); if (doMotorMapping) { - Transform(nextMove.coords, nextMove.xAxes); + Transform(nextMove.coords, nextMove.xAxes, true); } if (ddaRingAddPointer->Init(nextMove, doMotorMapping)) { @@ -481,7 +481,7 @@ int32_t Move::MotorEndPointToMachine(size_t drive, float coord) // This is computationally expensive on a delta, so only call it when necessary, and never from the step ISR. void Move::MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_t numDrives) const { - const float *stepsPerUnit = reprap.GetPlatform()->GetDriveStepsPerUnit(); + const float * const stepsPerUnit = reprap.GetPlatform()->GetDriveStepsPerUnit(); // Convert the axes if (IsDeltaMode()) @@ -629,10 +629,13 @@ void Move::InverseAxisTransform(float xyzPoint[MAX_AXES]) const xyzPoint[X_AXIS] -= (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]); } -void Move::Transform(float xyzPoint[MAX_AXES], uint32_t xAxes) const +void Move::Transform(float xyzPoint[MAX_AXES], uint32_t xAxes, bool useBedCompensation) const { AxisTransform(xyzPoint); - BedTransform(xyzPoint, xAxes); + if (useBedCompensation) + { + BedTransform(xyzPoint, xAxes); + } } void Move::InverseTransform(float xyzPoint[MAX_AXES], uint32_t xAxes) const @@ -804,13 +807,13 @@ void Move::SetAxisCompensation(int8_t axis, float tangent) void Move::BarycentricCoordinates(size_t p1, size_t p2, size_t p3, float x, float y, float& l1, float& l2, float& l3) const { - float y23 = baryYBedProbePoints[p2] - baryYBedProbePoints[p3]; - float x3 = x - baryXBedProbePoints[p3]; - float x32 = baryXBedProbePoints[p3] - baryXBedProbePoints[p2]; - float y3 = y - baryYBedProbePoints[p3]; - float x13 = baryXBedProbePoints[p1] - baryXBedProbePoints[p3]; - float y13 = baryYBedProbePoints[p1] - baryYBedProbePoints[p3]; - float iDet = 1.0 / (y23 * x13 + x32 * y13); + const float y23 = baryYBedProbePoints[p2] - baryYBedProbePoints[p3]; + const float x3 = x - baryXBedProbePoints[p3]; + const float x32 = baryXBedProbePoints[p3] - baryXBedProbePoints[p2]; + const float y3 = y - baryYBedProbePoints[p3]; + const float x13 = baryXBedProbePoints[p1] - baryXBedProbePoints[p3]; + const float y13 = baryYBedProbePoints[p1] - baryYBedProbePoints[p3]; + const float iDet = 1.0 / (y23 * x13 + x32 * y13); l1 = (y23 * x3 + x32 * y3) * iDet; l2 = (-y13 * x3 + x13 * y3) * iDet; l3 = 1.0 - l1 - l2; @@ -831,7 +834,7 @@ float Move::TriangleZ(float x, float y) const { for (size_t i = 0; i < 4; i++) { - size_t j = (i + 1) % 4; + const size_t j = (i + 1) % 4; float l1, l2, l3; BarycentricCoordinates(i, j, 4, x, y, l1, l2, l3); if (l1 > TRIANGLE_ZERO && l2 > TRIANGLE_ZERO && l3 > TRIANGLE_ZERO) @@ -1173,7 +1176,10 @@ void Move::DoDeltaCalibration(size_t numFactors, StringRef& reply) // Decide whether to do another iteration. Two is slightly better than one, but three doesn't improve things. // Alternatively, we could stop when the expected RMS error is only slightly worse than the RMS of the residuals. ++iteration; - if (iteration == 2) break; + if (iteration == 2) + { + break; + } } // Print out the calculation time @@ -1235,7 +1241,7 @@ void Move::DeltaProbeInterrupt() deltaProbe.Trigger(); } - bool dir = deltaProbe.GetDirection(); + const bool dir = deltaProbe.GetDirection(); Platform * const platform = reprap.GetPlatform(); platform->SetDirection(X_AXIS, dir); platform->SetDirection(Y_AXIS, dir); @@ -1245,7 +1251,7 @@ void Move::DeltaProbeInterrupt() Platform::StepDriversHigh(steppersMoving); ShortDelay(); Platform::StepDriversLow(); - uint32_t tim = deltaProbe.CalcNextStepTime(); + const uint32_t tim = deltaProbe.CalcNextStepTime(); again = (tim != 0xFFFFFFFF && platform->ScheduleInterrupt(tim + deltaProbingStartTime)); } while (again); } @@ -1295,11 +1301,9 @@ void Move::HitHighStop(size_t axis, DDA* hitDDA) { if (axis < reprap.GetGCodes()->GetNumAxes()) // should always be true { - float hitPoint = (IsDeltaMode()) - ? deltaParams.GetHomedCarriageHeight(axis) - // this is a delta printer, so the motor is at the homed carriage height for this drive - : reprap.GetPlatform()->AxisMaximum(axis); - // this is a Cartesian printer, so we're at the maximum for this axis + const float hitPoint = (IsDeltaMode()) + ? deltaParams.GetHomedCarriageHeight(axis) // this is a delta printer, so the motor is at the homed carriage height for this drive + : reprap.GetPlatform()->AxisMaximum(axis); // this is a Cartesian printer, so we're at the maximum for this axis JustHomed(axis, hitPoint, hitDDA); } } @@ -1335,7 +1339,7 @@ void Move::ZProbeTriggered(DDA* hitDDA) // Return the untransformed machine coordinates void Move::GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) const { - DDA *lastQueuedMove = ddaRingAddPointer->GetPrevious(); + DDA * const lastQueuedMove = ddaRingAddPointer->GetPrevious(); const size_t numAxes = reprap.GetGCodes()->GetNumAxes(); for (size_t i = 0; i < DRIVES; i++) { @@ -1359,7 +1363,7 @@ void Move::GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) bool Move::IsExtruding() const { cpu_irq_disable(); - bool rslt = currentDda != nullptr && currentDda->IsPrintingMove(); + const bool rslt = currentDda != nullptr && currentDda->IsPrintingMove(); cpu_irq_enable(); return rslt; } |