Merge pull request #479 from madgrizzle/patch-2

Change operation associated with ChainTolerance
MaslowCNC · Jan 23, 2019 · e1e0d02 · e1e0d02
2 parents 4941486 + 3c9402c
commit e1e0d02
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/cnc_ctrl_v1/Kinematics.cpp b/cnc_ctrl_v1/Kinematics.cpp
@@ -236,8 +236,8 @@ void  Kinematics::triangularInverse(float xTarget,float yTarget, float* aChainLe
     Chain2Straight *= (1 + ((sysSettings.chainSagCorrection / 1000000000000) * pow(cos(Chain2Angle),2) * pow(Chain2Straight,2) * pow((tan(Chain1Angle) * cos(Chain2Angle)) + sin(Chain2Angle),2)));
 
     //Calculate total chain lengths accounting for sprocket geometry and chain sag
-    float Chain1 = Chain1AroundSprocket + Chain1Straight * (1.0f + sysSettings.leftChainTolerance / 100.0f);
-    float Chain2 = Chain2AroundSprocket + Chain2Straight * (1.0f + sysSettings.rightChainTolerance / 100.0f);
+    float Chain1 = Chain1AroundSprocket + Chain1Straight / (1.0f + sysSettings.leftChainTolerance / 100.0f);
+    float Chain2 = Chain2AroundSprocket + Chain2Straight / (1.0f + sysSettings.rightChainTolerance / 100.0f);
 
     //Subtract of the virtual length which is added to the chain by the rotation mechanism
     Chain1 = Chain1 - sysSettings.rotationDiskRadius;