Skip to content

Update ParallelDelta.cpp #1595

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
bdring wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Update ParallelDelta.cpp #1595

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 10 additions & 4 deletions FluidNC/src/Kinematics/ParallelDelta.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -122,8 +122,14 @@ namespace Kinematics {
}

// TO DO. This is not supported yet. Other levels of protection will prevent "damage"
bool ParallelDelta::invalid_arc(
float* target, plan_line_data_t* pl_data, float* position, float center[3], float radius, size_t caxes[3], bool is_clockwise_arc, int pword_rotations) {
bool ParallelDelta::invalid_arc(float* target,
plan_line_data_t* pl_data,
float* position,
float center[3],
float radius,
size_t caxes[3],
bool is_clockwise_arc,
int pword_rotations) {
return false;
}

Expand Down Expand Up @@ -288,7 +294,7 @@ namespace Kinematics {
bool ParallelDelta::kinematics_homing(AxisMask& axisMask) {
// only servos use custom homing. Steppers use limit switches
if (!_use_servos)
false;
return false;

auto axes = config->_axes;
auto n_axis = axes->_numberAxis;
Expand Down Expand Up @@ -317,7 +323,7 @@ namespace Kinematics {
if (d < 0) {
//log_warn("Kinematics: Target unreachable");
return false;
} // non-existing point
} // non-existing point
float yj = (y1 - a * b - sqrt(d)) / (b * b + 1); // choosing outer point
float zj = a + b * yj;

Expand Down