From 844a4e799e9b27c67d13febed1deb79e2bc1cc7a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 29 Jul 2016 17:15:54 -0700
Subject: [PATCH] Account for DELTA in Planner::refresh_positioning
---
Marlin/Marlin.h | 1 +
Marlin/Marlin_main.cpp | 4 ++--
Marlin/planner.cpp | 7 ++++++-
3 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index ded8b1f50e..c0b773430d 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -314,6 +314,7 @@ float code_value_temp_diff();
void adjust_delta(float cartesian[3]);
#endif
#elif ENABLED(SCARA)
+ extern float delta[3];
extern float axis_scaling[3]; // Build size scaling
void inverse_kinematics(const float cartesian[3]);
void forward_kinematics_SCARA(float f_scara[3]);
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 777d910163..68bffded0e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -456,7 +456,7 @@ static uint8_t target_extruder;
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
- float delta[3] = { 0 };
+ float delta[3];
float cartesian_position[3] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
@@ -489,7 +489,7 @@ static uint8_t target_extruder;
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
- static float delta[3] = { 0 };
+ float delta[3];
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 7ced932c9b..ac41165d51 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1183,7 +1183,12 @@ void Planner::reset_acceleration_rates() {
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
void Planner::refresh_positioning() {
LOOP_XYZE(i) planner.steps_to_mm[i] = 1.0 / planner.axis_steps_per_mm[i];
- set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ #if ENABLED(DELTA) || ENABLED(SCARA)
+ inverse_kinematics(current_position);
+ set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ #else
+ set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ #endif
reset_acceleration_rates();
}
--
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