optimize penta axis kinematics

DerAndere1 · Oct 1, 2024 · 24b182d · 24b182d
1 parent 0e37299
commit 24b182d
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
@@ -2985,14 +2985,13 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
     if (!hints.millimeters)
       ph.millimeters = get_move_distance(xyze_pos_t(cart_dist_mm) OPTARG(HAS_ROTATIONAL_AXES, ph.cartesian_move));
 
-/**
     #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT) 
-      if (NEAR_ZERO(cart_dist_mm.i) && TERN1(HAS_J_AXIS, NEAR_ZERO(cart_dist_mm.j))) {
+      if (NEAR_ZERO(cart.i) && TERN1(HAS_J_AXIS, NEAR_ZERO(cart.j)) && NEAR_ZERO(position_cart.i) && TERN1(HAS_J_AXIS, NEAR_ZERO(position_cart.j))) {
         delta += cart_dist_mm;
       }
       else
     #endif
-*/
+
     // Cartesian XYZ to kinematic ABC, stored in global 'delta'
     inverse_kinematics(machine);