Recompute cordinates of motors if machine geometry changes

Recompute the xy cordinates of the motors when the machine's geometry is updated. Fixes an issue with triangular kinematics
MaslowCNC · Aug 24, 2017 · dd5668f · dd5668f
1 parent f1f9f7e
commit dd5668f
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/cnc_ctrl_v1/Kinematics.cpp b/cnc_ctrl_v1/Kinematics.cpp
@@ -45,6 +45,9 @@ void Kinematics::recomputeGeometry(){
     Theta = atan(2*s/l);
     Psi1 = Theta - Phi;
     Psi2 = Theta + Phi;
+
+    _xCordOfMotor = D/2;
+    _yCordOfMotor = halfHeight + motorOffsetY;
 
 }