Fixing Git Mess

Grbl_Esp32/Custom/parallel_delta.cpp

@@ -125,17 +125,17 @@ void machine_init() {
     //                    DXL_CENTER,
     //                    DXL_COUNT_MAX,
     //                    DXL_COUNT_PER_RADIAN);
-
-    bool user_defined_homing() {  // true = do not continue with normal Grbl homing
+}
+bool user_defined_homing() {  // true = do not continue with normal Grbl homing
 #ifdef USE_CUSTOM_HOMING
     return true;
 #else
     return false;
 #endif
-    }
+}
 
-    // This function is used by Grbl
-    void inverse_kinematics(float* position) {
+// This function is used by Grbl
+void inverse_kinematics(float* position) {
     float motor_angles[3];
 
     read_settings();
@@ -143,11 +143,11 @@ void machine_init() {
     position[0] = motor_angles[0];
     position[1] = motor_angles[1];
     position[2] = motor_angles[2];
-    }
+}
 
-    // This function is used by Grbl
-    void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position)  //The target and position are provided in MPos
-    {
+// This function is used by Grbl
+void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position)  //The target and position are provided in MPos
+{
     float dx, dy, dz;  // distances in each cartesian axis
     float motor_angles[3];
 
@@ -225,10 +225,10 @@ void machine_init() {
             }
         }
     }
-    }
+}
 
-    // this is used used by Grbl soft limits to see if the range of the machine is exceeded.
-    uint8_t kinematic_limits_check(float* target) {
+// this is used used by Grbl soft limits to see if the range of the machine is exceeded.
+uint8_t kinematic_limits_check(float* target) {
     float motor_angles[3];
 
     read_settings();
@@ -252,11 +252,11 @@ void machine_init() {
     }
 
     return (status == KinematicError::NONE);
-    }
+}
 
-    // inverse kinematics: cartesian -> angles
-    // returned status: 0=OK, -1=non-existing position
-    KinematicError delta_calcInverse(float* cartesian, float* angles) {
+// inverse kinematics: cartesian -> angles
+// returned status: 0=OK, -1=non-existing position
+KinematicError delta_calcInverse(float* cartesian, float* angles) {
     angles[0] = angles[1] = angles[2] = 0;
     KinematicError status             = KinematicError::NONE;
 
@@ -283,10 +283,10 @@ void machine_init() {
 
     //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "xyx (%4.3f,%4.3f,%4.3f) ang (%4.3f,%4.3f,%4.3f)", x0, y0, z0, theta1, theta2, theta3);
     return status;
-    }
+}
 
-    // inverse kinematics: angles -> cartesian
-    int calc_forward_kinematics(float* angles, float* catesian) {
+// inverse kinematics: angles -> cartesian
+int calc_forward_kinematics(float* angles, float* catesian) {
     float t = (f - e) * tan30 / 2;
 
     float y1 = -(t + rf * cos(angles[0]));
@@ -328,9 +328,9 @@ void machine_init() {
     catesian[X_AXIS] = (a1 * catesian[Z_AXIS] + b1) / dnm;
     catesian[Y_AXIS] = (a2 * catesian[Z_AXIS] + b2) / dnm;
     return 0;
-    }
-    // helper functions, calculates angle theta1 (for YZ-pane)
-    KinematicError delta_calcAngleYZ(float x0, float y0, float z0, float& theta) {
+}
+// helper functions, calculates angle theta1 (for YZ-pane)
+KinematicError delta_calcAngleYZ(float x0, float y0, float z0, float& theta) {
     float y1 = -0.5 * 0.57735 * f;  // f/2 * tg 30
     y0 -= 0.5 * 0.57735 * e;        // shift center to edge
     // z = a + b*y
@@ -354,15 +354,15 @@ void machine_init() {
     }
 
     return KinematicError::NONE;
-    }
+}
 
-    // Determine the unit distance between (2) 3D points
-    float three_axis_dist(float* point1, float* point2) {
+// Determine the unit distance between (2) 3D points
+float three_axis_dist(float* point1, float* point2) {
     return sqrt(((point1[0] - point2[0]) * (point1[0] - point2[0])) + ((point1[1] - point2[1]) * (point1[1] - point2[1])) +
                 ((point1[2] - point2[2]) * (point1[2] - point2[2])));
-    }
-    // called by reporting for WPos status
-    void forward_kinematics(float* position) {
+}
+// called by reporting for WPos status
+void forward_kinematics(float* position) {
     float calc_fwd[N_AXIS];
     int   status;
 
@@ -388,18 +388,18 @@ void machine_init() {
     } else {
         grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "MSG:Fwd Kin Error");
     }
-    }
+}
 
-    bool kinematics_pre_homing(uint8_t cycle_mask) {  // true = do not continue with normal Grbl homing
+bool kinematics_pre_homing(uint8_t cycle_mask) {  // true = do not continue with normal Grbl homing
 #ifdef USE_CUSTOM_HOMING
     return true;
 #else
     //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "kinematics_pre_homing");
     return false;
 #endif
-    }
+}
 
-    void kinematics_post_homing() {
+void kinematics_post_homing() {
 #ifdef USE_CUSTOM_HOMING
 
 #else
@@ -433,13 +433,13 @@ void machine_init() {
 #ifdef USE_POST_HOMING_DELAY
     delay(1000);  // give time for servo type homing
 #endif
-    }
+}
 
-    void user_m30() {}
+void user_m30() {}
 
-    void read_settings() {
+void read_settings() {
     rf = delta_crank_len->get();          // radius of the fixed side (length of motor cranks)
     re = delta_link_len->get();           // radius of end effector side (length of linkages)
     f  = delta_crank_side_len->get();     // sized of fixed side triangel
     e  = delta_effector_side_len->get();  // size of end effector side triangle
-    }
+}

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -204,17 +204,6 @@ namespace Motors {
             return;
         }
 
-        float max_travel = axis_settings[_axis_index]->max_travel->get();
-        float mpos       = axis_settings[_axis_index]->home_mpos->get();
-
-        if (bit_istrue(homing_dir_mask->get(), bit(_axis_index))) {
-            _position_min = mpos;
-            _position_max = mpos + max_travel;
-        } else {
-            _position_min = mpos - max_travel;
-            _position_max = mpos;
-        }
-
         uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0);
         float    hold_i_percent;