From 4e73d9f211a774148956a82cf3c4c0a4c93ee350 Mon Sep 17 00:00:00 2001 From: Chris Date: Mon, 5 Aug 2024 20:53:44 +0200 Subject: [PATCH] Update motion_control.c changed to ternary --- motion_control.c | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/motion_control.c b/motion_control.c index 9184ce2..29bbe45 100644 --- a/motion_control.c +++ b/motion_control.c @@ -247,9 +247,7 @@ void mc_arc (float *target, plan_line_data_t *pl_data, float *position, float *o if(labs(turns) > 1) { uint32_t n_turns = labs(turns) - 1; - float arc_travel = 2.0f * M_PI * n_turns - angular_travel; - if (turns > 0) - arc_travel = 2.0f * M_PI * n_turns + angular_travel; + float arc_travel = 2.0f * M_PI * (float)n_turns + (turns > 0 ? angular_travel : -angular_travel); coord_data_t arc_target; #if N_AXIS > 3 uint_fast8_t idx = N_AXIS;