MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix Planner::unskew parity with skew

Browse Source
This commit is contained in:
Scott Lahteine 2017-12-13 17:42:39 -06:00
parent be58e137c5
commit da9748fb21
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Marlin/planner.h
View File

@ -349,8 +349,8 @@ class Planner {
FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) { FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) { if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))), const float sx = cx - cy * xy_skew_factor - cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
sy = cy - (cz * yz_skew_factor); sy = cy - cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy; cx = sx; cy = sy;
} }
@ -359,7 +359,7 @@ class Planner {
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) { FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor, const float sx = cx + cy * xy_skew_factor + cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
sy = cy + cz * yz_skew_factor; sy = cy + cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy; cx = sx; cy = sy;