Move most handling of steps from arm_solution,Robot,Planner to StepperMotor

[clinton/Smoothieware.git] / src / modules / robot / Planner.h

diff --git a/src/modules/robot/Planner.h b/src/modules/robot/Planner.h
index aa0ed69..6ddaa06 100644 (file)
--- a/src/modules/robot/Planner.h
+++ b/src/modules/robot/Planner.h
@@ -18,7 +18,7 @@ using namespace std;
 class Planner : public Module {
     public:
         Planner();
-        void append_block( int target[], float feed_rate, float distance, float deltas[] );
+        void append_block( float target[], float feed_rate, float distance, float deltas[] );
         float max_allowable_speed( float acceleration, float target_velocity, float distance);
         void recalculate();
         Block* get_current_block();
@@ -26,7 +26,6 @@ class Planner : public Module {
         void on_module_loaded();
         void on_config_reload(void* argument);
 
-        int position[3];              // Current position, in steps
         float previous_unit_vec[3];
         Block last_deleted_block;     // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
         bool has_deleted_block;       // Flag for above value