Bezier style and DELTA patch

Marlin/planner_bezier.cpp

@@ -113,9 +113,9 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
   float second1 = target[Y_AXIS] + offset[3];
   float t = 0.0;
 
-  float tmp[4];
-  tmp[X_AXIS] = position[X_AXIS];
-  tmp[Y_AXIS] = position[Y_AXIS];
+  float bez_target[4];
+  bez_target[X_AXIS] = position[X_AXIS];
+  bez_target[Y_AXIS] = position[Y_AXIS];
   float step = MAX_STEP;
 
   uint8_t idle_counter = 0;
@@ -141,8 +141,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
       float candidate_t = 0.5 * (t + new_t);
       float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
       float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
-      float interp_pos0 = 0.5 * (tmp[X_AXIS] + new_pos0);
-      float interp_pos1 = 0.5 * (tmp[Y_AXIS] + new_pos1);
+      float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0);
+      float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
       if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
       new_t = candidate_t;
       new_pos0 = candidate_pos0;
@@ -157,8 +157,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
       if (candidate_t >= 1.0) break;
       float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
       float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
-      float interp_pos0 = 0.5 * (tmp[X_AXIS] + candidate_pos0);
-      float interp_pos1 = 0.5 * (tmp[Y_AXIS] + candidate_pos1);
+      float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0);
+      float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
       if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
       new_t = candidate_t;
       new_pos0 = candidate_pos0;
@@ -180,14 +180,23 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
     t = new_t;
 
     // Compute and send new position
-    tmp[X_AXIS] = new_pos0;
-    tmp[Y_AXIS] = new_pos1;
+    bez_target[X_AXIS] = new_pos0;
+    bez_target[Y_AXIS] = new_pos1;
     // FIXME. The following two are wrong, since the parameter t is
     // not linear in the distance.
-    tmp[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
-    tmp[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
-    clamp_to_software_endstops(tmp);
-    planner.buffer_line(tmp[X_AXIS], tmp[Y_AXIS], tmp[Z_AXIS], tmp[E_AXIS], feed_rate, extruder);
+    bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
+    bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
+    clamp_to_software_endstops(bez_target);
+
+    #if ENABLED(DELTA) || ENABLED(SCARA)
+      calculate_delta(bez_target);
+      #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+        adjust_delta(bez_target);
+      #endif
+      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder);
+    #else
+      planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder);
+    #endif
   }
 }