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Initialize actuator positions for ABC axis
author
Jim Morris
<morris@wolfman.com>
Fri, 11 May 2018 10:17:16 +0000
(11:17 +0100)
committer
Jim Morris
<morris@wolfman.com>
Fri, 11 May 2018 10:17:16 +0000
(11:17 +0100)
src/modules/robot/Robot.cpp
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diff --git
a/src/modules/robot/Robot.cpp
b/src/modules/robot/Robot.cpp
index
e193e36
..
3124379
100644
(file)
--- a/
src/modules/robot/Robot.cpp
+++ b/
src/modules/robot/Robot.cpp
@@
-268,8
+268,14
@@
void Robot::load_config()
// so the first move can be correct if homing is not performed
ActuatorCoordinates actuator_pos;
arm_solution->cartesian_to_actuator(machine_position, actuator_pos);
// so the first move can be correct if homing is not performed
ActuatorCoordinates actuator_pos;
arm_solution->cartesian_to_actuator(machine_position, actuator_pos);
- for (size_t i =
0; i < n_motors; i++)
+ for (size_t i =
X_AXIS; i <= Z_AXIS; i++) {
actuators[i]->change_last_milestone(actuator_pos[i]);
actuators[i]->change_last_milestone(actuator_pos[i]);
+ }
+
+ // initialize any extra axis to machine position
+ for (size_t i = A_AXIS; i < n_motors; i++) {
+ actuators[i]->change_last_milestone(machine_position[i]);
+ }
//this->clearToolOffset();
//this->clearToolOffset();