MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

Tweak to planner.cpp position.debug

Browse Source
This commit is contained in:
Scott Lahteine 2015-05-03 16:03:05 -07:00
parent 2c892fca6a
commit 35493e1af9
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Marlin/planner.cpp
View File

@ -959,7 +959,7 @@ float junction_deviation = 0.1;
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS)); vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
//position.debug("in plan_get position"); //position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get bed_level"); //plan_bed_level_matrix.debug("in plan_get_position");
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix); matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
//inverse.debug("in plan_get inverse"); //inverse.debug("in plan_get inverse");
position.apply_rotation(inverse); position.apply_rotation(inverse);
@ -981,10 +981,10 @@ float junction_deviation = 0.1;
apply_rotation_xyz(plan_bed_level_matrix, x, y, z); apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif #endif
float nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]); float nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]),
float ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]); ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
float nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]); nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
float ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]); ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
st_set_position(nx, ny, nz, ne); st_set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.