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dda.c: correct current position for CoreXY

This commit is contained in:
Nico Tonnhofer 2017-04-17 09:07:08 +02:00
parent eacb5bbbed
commit 5cf1b34924
3 changed files with 41 additions and 2 deletions
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11
dda.c
View File

@ -952,14 +952,21 @@ void update_current_position() {
if (dda != NULL) {
uint32_t axis_um;
axes_int32_t delta_um, um;
for (i = X; i < AXIS_COUNT; i++) {
axis_um = muldiv(move_state.steps[i],
1000000,
pgm_read_dword(&steps_per_m_P[i]));
current_position.axis[i] =
dda->endpoint.axis[i] - (int32_t)get_direction(dda, i) * axis_um;
delta_um[i] = (int32_t)get_direction(dda, i) * axis_um;
}
delta_to_axes(delta_um, um);
um[E] = delta_um[E];
for (i = X; i < AXIS_COUNT; i++) {
current_position.axis[i] = dda->endpoint.axis[i] - um[i];
}
if (dda->endpoint.e_relative) {

14
dda_kinematics.c
View File

@ -55,3 +55,17 @@ void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps) {
steps[Y] = um_to_steps(um[X] - um[Y], Y);
steps[Z] = um_to_steps(um[Z], Z);
}
void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um) {
enum axis_e i;
for (i = X; i < E; i++) {
um[i] = delta_um[i];
}
}
void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um) {
um[X] = (delta_um[X] + delta_um[Y]) / 2;
um[Y] = (delta_um[X] - delta_um[Y]) / 2;
um[Z] = delta_um[Z];
}

18
dda_kinematics.h
View File

@ -52,4 +52,22 @@ inline void axes_um_to_steps(const axes_int32_t um, axes_int32_t steps) {
#endif
}
void delta_to_axes_cartesian(const axes_int32_t delta_um, axes_int32_t um);
void delta_to_axes_corexy(const axes_int32_t delta_um, axes_int32_t um);
// void delta_to_axes_scara(const axes_int32_t delta_um, axes_int32_t um);
static void delta_to_axes(const axes_int32_t, axes_int32_t)
__attribute__ ((always_inline));
inline void delta_to_axes(const axes_int32_t delta_um, axes_int32_t um) {
#if defined KINEMATICS_STRAIGHT
delta_to_axes_cartesian(delta_um, um);
#elif defined KINEMATICS_COREXY
delta_to_axes_corexy(delta_um, um);
// #elif defined KINEMATICS_SCARA
// delta_to_axes_scara(delta_um, um);
#else
#error KINEMATICS not defined or unknown, edit your config.h.
#endif
}
#endif /* _DDA_KINEMATICS_H */