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Minor speedup for SCARA scaling

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And cleanup of Delta IK macros...
This commit is contained in:
Scott Lahteine 2017-12-21 21:58:00 -06:00
parent 6f40d57e14
commit b5677907d0
3 changed files with 22 additions and 34 deletions
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18
Marlin/Marlin.h
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@ -321,17 +321,17 @@ void report_current_position();
#endif
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - raw[X_AXIS], \
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
) \
#define DELTA_Z(V,T) V[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - V[X_AXIS], \
delta_tower[T][Y_AXIS] - V[Y_AXIS] \
) \
)
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
#define DELTA_IK(V) do { \
delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
}while(0)
#elif IS_SCARA