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Use world2machine instead of repeating code

This commit is contained in:
Yuri D'Elia 2020-01-26 17:12:27 +01:00
parent ec5cbf73b9
commit 0702e0de6e
1 changed files with 1 additions and 8 deletions
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9
Firmware/planner.cpp
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@ -1345,14 +1345,7 @@ void plan_set_position(float x, float y, float z, const float &e)
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
{
float tmpx = x;
float tmpy = y;
x = world2machine_rotation_and_skew[0][0] * tmpx + world2machine_rotation_and_skew[0][1] * tmpy + world2machine_shift[0];
y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
}
world2machine(x, y);
position[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);