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@ -47,18 +47,16 @@
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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*/
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const float start[XYZE] = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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},
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end[XYZE] = {
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destination[X_AXIS],
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destination[Y_AXIS],
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destination[Z_AXIS],
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destination[E_AXIS]
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};
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#if ENABLED(SKEW_CORRECTION)
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// For skew correction just adjust the destination point and we're done
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float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
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end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
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planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
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planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
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#else
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const float (&start)[XYZE] = current_position,
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(&end)[XYZE] = destination;
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#endif
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
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cell_start_yi = get_cell_index_y(start[Y_AXIS]),
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@ -66,10 +64,10 @@
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cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
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if (g26_debug_flag) {
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SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
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SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
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SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
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SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
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SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
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SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
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SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
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@ -416,12 +414,19 @@
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
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inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
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inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
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#if ENABLED(SKEW_CORRECTION)
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float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
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planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
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#else
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const float (&raw)[XYZE] = in_raw;
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#endif
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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DELTA_RAW_IK();
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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@ -434,11 +439,11 @@
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scara_oldB = delta[B_AXIS];
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float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
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#else // CARTESIAN
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planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
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planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
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#endif
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}
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@ -461,7 +466,7 @@
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* Returns true if did NOT move, false if moved (requires current_position update).
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*/
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
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if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
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