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Fixed bug that caused deltas in Bresenham to be cut and axis intervals to be negative in such case

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This commit is contained in:
Emanuele Caruso 2011-05-22 20:19:56 +02:00
parent 1bbdc19706
commit 2433b0459a
1 changed files with 4 additions and 4 deletions
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8
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -945,8 +945,8 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(axis_steps_remaining[3]) enable_e();
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned int delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
int axis_error[NUM_AXIS];
unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
long axis_error[NUM_AXIS];
unsigned int primary_axis;
if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1;
else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0;
@ -959,8 +959,8 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#ifdef DEBUG_BRESENHAM
log_int("_BRESENHAM - Primary axis", primary_axis);
log_int("_BRESENHAM - Primary axis full speed interval", interval);
log_uint_array("_BRESENHAM - Deltas", delta, NUM_AXIS);
log_int_array("_BRESENHAM - Errors", axis_error, NUM_AXIS);
log_ulong_array("_BRESENHAM - Deltas", delta, NUM_AXIS);
log_long_array("_BRESENHAM - Errors", axis_error, NUM_AXIS);
#endif
//If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.