modified: src/modules/robot/arm_solutions/RotatableDeltaSolution.h

diff --git a/src/modules/robot/arm_solutions/RotatableDeltaSolution.h b/src/modules/robot/arm_solutions/RotatableDeltaSolution.h
index 466004d..a86e836 100644 (file)
--- a/src/modules/robot/arm_solutions/RotatableDeltaSolution.h
+++ b/src/modules/robot/arm_solutions/RotatableDeltaSolution.h
@@ -19,25 +19,23 @@ class RotatableDeltaSolution : public BaseSolution {
         int delta_calcAngleYZ(float x0, float y0, float z0, float &theta);
         int delta_calcForward(float theta1, float theta2, float theta3, float &x0, float &y0, float &z0);
 
-        float delta_e;         // End effector length
-        float delta_f;         // Base length
-        float delta_re;                // Carbon rod length
-        float delta_rf;                // Servo horn length
-        float delta_z_offset ; // Distance from delta 8mm rod/pulley to table/bed. <- LERCHE 25-09-2014 uncommented
-
-        //NOTE: For OpenPnP, set the zero to be about 25mm above the bed...
-        //float delta_z_offset;        // Distance from delta 8mm rod/pulley to table/bed. <- LERCHE 25-09-2014 commented
-
-        float delta_ee_offs;   // Ball joint plane to bottom of end effector surface
-        float tool_offset;     // Distance between end effector ball joint plane and tip of tool
+        float delta_e;                 // End effector length
+        float delta_f;                 // Base length
+        float delta_re;                        // Carbon rod length
+        float delta_rf;                        // Servo horn length
+        float delta_z_offset ;         // Distance from delta 8mm rod/pulley to table/bed
+                                       // NOTE: For OpenPnP, set the zero to be about 25mm above the bed
+
+        float delta_ee_offs;           // Ball joint plane to bottom of end effector surface
+        float tool_offset;             // Distance between end effector ball joint plane and tip of tool
         float z_calc_offset;
 
-        float z_home_angle;    // This is the angle where the arms hit the endstop sensor
-        float z_home_offs;     // This is calculated from the above angle, after applying forward
-                                                       // kinematics, and adding the Z calc offset to it.
+        float z_home_angle;            // This is the angle where the arms hit the endstop sensor
+        float z_home_offs;             // This is calculated from the above angle, after applying forward
+                                       // kinematics, and adding the Z calc offset to it.
 
-        // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-        float delta_printable_radius;
+        
+        float delta_printable_radius;  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
 
         float xyz_full_steps_per_rotation;     // stepper motor steps per 360 full rotation