diff options
Diffstat (limited to 'ArcWelderInverseProcessor/marlin_1.cpp')
| -rw-r--r-- | ArcWelderInverseProcessor/marlin_1.cpp | 52 |
1 files changed, 10 insertions, 42 deletions
diff --git a/ArcWelderInverseProcessor/marlin_1.cpp b/ArcWelderInverseProcessor/marlin_1.cpp index 6269645..0cca4e9 100644 --- a/ArcWelderInverseProcessor/marlin_1.cpp +++ b/ArcWelderInverseProcessor/marlin_1.cpp @@ -156,7 +156,7 @@ void marlin_1::plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination // Radius vector from center to current location float r_P = -offset[0], r_Q = -offset[1]; - const float radius = HYPOT(r_P, r_Q), + const float radius = utilities::hypotf(r_P, r_Q), center_P = current_position[p_axis] - r_P, center_Q = current_position[q_axis] - r_Q, rt_X = cart[p_axis] - center_P, @@ -165,19 +165,19 @@ void marlin_1::plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination extruder_travel = cart[E_CART] - current_position[E_CART]; // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required. - float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y); - if (angular_travel < 0) angular_travel += RADIANS(360); - if (clockwise) angular_travel -= RADIANS(360); + float angular_travel = (float)utilities::atan2((double)r_P * rt_Y - (double)r_Q * rt_X, (double)r_P * rt_X + (double)r_Q * rt_Y); + if (angular_travel < 0) angular_travel += utilities::radiansf(360.0f); + if (clockwise) angular_travel -= utilities::radiansf(360.0f); // Make a circle if the angular rotation is 0 and the target is current position if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis]) - angular_travel = RADIANS(360); + angular_travel = utilities::radiansf(360.0f); const float flat_mm = radius * angular_travel, - mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm); + mm_of_travel = linear_travel ? utilities::hypotf(flat_mm, linear_travel) : utilities::absf(flat_mm); if (mm_of_travel < 0.001f) return; - uint16_t segments = (uint16_t)FLOOR(mm_of_travel / (float)(args_.mm_per_arc_segment)); + uint16_t segments = (uint16_t)utilities::floorf(mm_of_travel / (float)(args_.mm_per_arc_segment)); NOLESS(segments, 1); /** @@ -212,7 +212,7 @@ void marlin_1::plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination linear_per_segment = linear_travel / segments, extruder_per_segment = extruder_travel / segments, sin_T = theta_per_segment, - cos_T = 1 - 0.5f * sq(theta_per_segment); // Small angle approximation + cos_T = 1 - 0.5f * utilities::sqf(theta_per_segment); // Small angle approximation // Initialize the linear axis raw[l_axis] = current_position[l_axis]; @@ -273,42 +273,10 @@ void marlin_1::plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination COPY(current_position, cart); } -// Marlin Function Defs -float marlin_1::HYPOT(float x, float y) -{ - return (float)utilities::hypot(x, y); -} - -float marlin_1::ATAN2(float x, float y) -{ - return (float)utilities::atan2(x, y); -} - -float marlin_1::RADIANS(float x) -{ - return (x * (float)M_PI) / 180; -} - -float marlin_1::ABS(float x) -{ - return (float)utilities::abs((double)x); -} - -float marlin_1::FLOOR(float x) -{ - return (float)utilities::floor((double)x); -} - -float marlin_1::NOLESS(uint16_t x, uint16_t y) +void marlin_1::NOLESS(uint16_t &x, uint16_t y) { if (x < y) - return y; - return x; -} - -float marlin_1::sq(float x) -{ - return x * x; + x = y; } float marlin_1::MMS_SCALED(float x) |