deprecate usage of M665 Fxxx in favor of M665 Hxxx

[clinton/Smoothieware.git] / src / modules / robot / arm_solutions / RotatableDeltaSolution.cpp

diff --git a/src/modules/robot/arm_solutions/RotatableDeltaSolution.cpp b/src/modules/robot/arm_solutions/RotatableDeltaSolution.cpp
index 4b219db..798992f 100644 (file)
--- a/src/modules/robot/arm_solutions/RotatableDeltaSolution.cpp
+++ b/src/modules/robot/arm_solutions/RotatableDeltaSolution.cpp
@@ -133,7 +133,7 @@ void RotatableDeltaSolution::init() {
        z_calc_offset  = (delta_z_offset - tool_offset - delta_ee_offs)*-1.0F;
 }
 
-void RotatableDeltaSolution::cartesian_to_actuator( float cartesian_mm[], float actuator_mm[] )
+void RotatableDeltaSolution::cartesian_to_actuator(const float cartesian_mm[], float actuator_mm[] )
 {
        //We need to translate the Cartesian coordinates in mm to the actuator position required in mm so the stepper motor  functions
        float alpha_theta = 0.0F;
@@ -182,7 +182,7 @@ void RotatableDeltaSolution::cartesian_to_actuator( float cartesian_mm[], float
 
 }
 
-void RotatableDeltaSolution::actuator_to_cartesian( float actuator_mm[], float cartesian_mm[] )
+void RotatableDeltaSolution::actuator_to_cartesian(const float actuator_mm[], float cartesian_mm[] )
 {
     //Use forward kinematics
     delta_calcForward(actuator_mm[ALPHA_STEPPER], actuator_mm[BETA_STEPPER ], actuator_mm[GAMMA_STEPPER], cartesian_mm[X_AXIS], cartesian_mm[Y_AXIS], cartesian_mm[Z_AXIS]);