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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-10-27 11:14:40 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-11-06 15:51:51 -0500 |
| commit | 374eb9876565272c041e1d6950e7547d0604dffa (patch) | |
| tree | 6ea4be0fac8b22ba013b7e45999b597e30e91794 /klippy/chelper/kin_polar.c | |
| parent | 92993c062b4c70e4e97cecdfb2b43b8c0bbef96c (diff) | |
| download | kutter-374eb9876565272c041e1d6950e7547d0604dffa.tar.gz kutter-374eb9876565272c041e1d6950e7547d0604dffa.tar.xz kutter-374eb9876565272c041e1d6950e7547d0604dffa.zip | |
polar: Implement bed angle wrapping adjustments in chelper code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper/kin_polar.c')
| -rw-r--r-- | klippy/chelper/kin_polar.c | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c index bba5546a..77755d70 100644 --- a/klippy/chelper/kin_polar.c +++ b/klippy/chelper/kin_polar.c @@ -32,14 +32,26 @@ polar_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m return angle; } +static void +polar_stepper_angle_post_fixup(struct stepper_kinematics *sk) +{ + // Normalize the stepper_bed angle + if (sk->commanded_pos < -M_PI) + sk->commanded_pos += 2 * M_PI; + else if (sk->commanded_pos > M_PI) + sk->commanded_pos -= 2 * M_PI; +} + struct stepper_kinematics * __visible polar_stepper_alloc(char type) { struct stepper_kinematics *sk = malloc(sizeof(*sk)); memset(sk, 0, sizeof(*sk)); - if (type == 'r') + if (type == 'r') { sk->calc_position_cb = polar_stepper_radius_calc_position; - else if (type == 'a') + } else if (type == 'a') { sk->calc_position_cb = polar_stepper_angle_calc_position; + sk->post_cb = polar_stepper_angle_post_fixup; + } return sk; } |