Diff: threeAxis.cpp

Revision:

2:5206484275e3

Parent:

1:43d856fad23a

Child:

3:09abcf461dc2

diff -r 43d856fad23a -r 5206484275e3 threeAxis.cpp
--- a/threeAxis.cpp	Wed Dec 15 01:17:55 2021 +0000
+++ b/threeAxis.cpp	Wed Dec 15 02:10:48 2021 +0000
@@ -28,6 +28,26 @@
     _zDir = defaultZdir;
 
     limitsEnabled = false;
+    bufferIndex = 0;
+}
+
+void threeAxis::addToBuffer(float xVal, float yVal, float zVal){
+    
+    buffer[bufferIndex][0] = xVal;
+    buffer[bufferIndex][1] = yVal;
+    buffer[bufferIndex][2] = zVal;
+    
+    bufferIndex = bufferIndex + 1;
+}
+
+void threeAxis::runBuffer(){
+    int i = 0;
+    while(i <= bufferIndex){
+        goTo(buffer[i][0], buffer[i][1], buffer[i][2]);
+        i = i+1;
+    }
+    
+    bufferIndex = 0;
 }
 
 void threeAxis::invertX(){
@@ -150,9 +170,9 @@
 
 void threeAxis::goTo(float xVal, float yVal, float zVal){
     
-    int xSteps = (int)xVal/_stepRatio;
-    int ySteps = (int)yVal/_stepRatio;
-    int zSteps = (int)zVal/_stepRatio;
+    int xSteps = (int)(xVal/_stepRatio);
+    int ySteps = (int)(yVal/_stepRatio);
+    int zSteps = (int)(zVal/_stepRatio);
     
     //uLCD.printf("\n%.2f, %.2f, %.2f, %d, %d, %d", xVal, yVal, zVal, xSteps, ySteps, zSteps);
     
@@ -162,16 +182,16 @@
     
     
     
-    if (toX > _xMax / _stepRatio){
-        toX = _xMax / _stepRatio;
+    if (toX > (int)(_xMax / _stepRatio)){
+        toX = (int)(_xMax / _stepRatio);
     }
     
-    if (toY > _yMax / _stepRatio){
-        toY = _yMax / _stepRatio;
+    if (toY > (int)(_yMax / _stepRatio)){
+        toY = (int)(_yMax / _stepRatio);
     }
     
-    if (toZ > _zMax / _stepRatio){
-        toZ = _zMax / _stepRatio;
+    if (toZ > (int)(_zMax / _stepRatio)){
+        toZ = (int)(_zMax / _stepRatio);
     }
     
     //uLCD.printf("\nTo: %d, %d, %d", toX, toY, toZ);