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Fixing initialization problem when not in USE_KINEMATICS mode

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bdring
2020-10-23 14:53:16 -05:00
parent 407c5e08a5
commit 371d3f1450
2 changed files with 6 additions and 4 deletions
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2
Grbl_Esp32/src/Machine.h
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@@ -8,7 +8,7 @@
// !!! For initial testing, start with test_drive.h which disables
// all I/O pins
// #include "Machines/atari_1020.h"
# include "Machines/tapster_3.h"
# include "Machines/test_drive.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

8
Grbl_Esp32/src/MotionControl.cpp
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@@ -37,7 +37,7 @@ SquaringMode ganged_mode = SquaringMode::Dual;
void mc_line_kins(float* target, plan_line_data_t* pl_data, float* position) {
#ifndef USE_KINEMATICS
mc_line(target, pl_data);
#else // else use kinematics
#else // else use kinematics
inverse_kinematics(target, pl_data, position);
#endif
}
@@ -52,7 +52,7 @@ void mc_line_kins(float* target, plan_line_data_t* pl_data, float* position) {
void mc_line(float* target, plan_line_data_t* pl_data) {
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (soft_limits->get()) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != State::Jog) {
@@ -116,8 +116,10 @@ void mc_arc(float* target,
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
float previous_position[MAX_N_AXIS] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
#ifdef USE_KINEMATICS
float previous_position[MAX_N_AXIS];
uint16_t n;
auto n_axis = number_axis->get();
for (n = 0; n < n_axis; n++) {