From caa50934984692e7b0de8aeb05438be9a19ce660 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 21 Dec 2017 22:41:57 -0600
Subject: [PATCH] General DELTA_IK macro

---
 Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp |  2 +-
 Marlin/src/module/delta.cpp                    |  2 +-
 Marlin/src/module/delta.h                      | 18 +++++++++---------
 Marlin/src/module/motion.cpp                   |  2 +-
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
index 4bc106976d..fefff867f8 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
@@ -427,7 +427,7 @@
 
     #if ENABLED(DELTA)  // apply delta inverse_kinematics
 
-      DELTA_RAW_IK();
+      DELTA_IK(raw);
       planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
 
     #elif IS_SCARA  // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index eae9c557aa..e25c29ef18 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -121,7 +121,7 @@ void recalc_delta_settings() {
   }while(0)
 
 void inverse_kinematics(const float raw[XYZ]) {
-  DELTA_RAW_IK();
+  DELTA_IK(raw);
   // DELTA_DEBUG();
 }
 
diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
index fc98f9e6ba..59c01981fc 100644
--- a/Marlin/src/module/delta.h
+++ b/Marlin/src/module/delta.h
@@ -76,17 +76,17 @@ void recalc_delta_settings();
 #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)
 
 void inverse_kinematics(const float raw[XYZ]);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 11803c184b..b13438dab5 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -613,7 +613,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
       LOOP_XYZE(i) raw[i] += segment_distance[i];
 
       #if ENABLED(DELTA)
-        DELTA_RAW_IK(); // Delta can inline its kinematics
+        DELTA_IK(raw); // Delta can inline its kinematics
       #else
         inverse_kinematics(raw);
       #endif