From 87921f390afbe7298662760129741e849c79c041 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 15 Dec 2016 22:26:37 -0800 Subject: [PATCH] Clarify what are "logical" positions in the planner --- Marlin/planner.cpp | 10 +++++----- Marlin/planner.h | 16 ++++++++-------- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 4c815e284..e9d3a0225 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -1372,16 +1372,16 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) { #if PLANNER_LEVELING - float pos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] }; - apply_leveling(pos); + float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] }; + apply_leveling(lpos); #else - const float * const pos = position; + const float * const lpos = position; #endif #if IS_KINEMATIC - inverse_kinematics(pos); + inverse_kinematics(lpos); _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]); #else - _set_position_mm(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], position[E_AXIS]); + _set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]); #endif } diff --git a/Marlin/planner.h b/Marlin/planner.h index 50595708f..5d3689406 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -308,22 +308,22 @@ class Planner { * The target is cartesian, it's translated to delta/scara if * needed. * - * target - x,y,z,e CARTESIAN target in mm + * ltarget - x,y,z,e CARTESIAN target in mm * fr_mm_s - (target) speed of the move (mm/s) * extruder - target extruder */ - static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], const float &fr_mm_s, const uint8_t extruder) { + static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) { #if PLANNER_LEVELING - float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] }; - apply_leveling(pos); + float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] }; + apply_leveling(lpos); #else - const float * const pos = target; + const float * const lpos = ltarget; #endif #if IS_KINEMATIC - inverse_kinematics(pos); - _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder); + inverse_kinematics(lpos); + _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder); #else - _buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder); + _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder); #endif }