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Define Motion::PlanMove/PlanMoveTo as constexpr

pull/71/head
Yuri D'Elia 2021-07-25 17:08:15 +02:00
parent 888cdf7cd5
commit 402a2b91ce
1 changed files with 4 additions and 4 deletions
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8
src/modules/motion.h
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@ -123,7 +123,7 @@ public:
/// be supplied as the first template argument: PlanMoveTo<axis>(pos, rate). /// be supplied as the first template argument: PlanMoveTo<axis>(pos, rate).
/// @see PlanMoveTo, unitToSteps /// @see PlanMoveTo, unitToSteps
template <Axis A> template <Axis A>
void PlanMoveTo(AxisUnit<pos_t, A, Lenght> pos, AxisUnit<steps_t, A, Speed> feedrate) { constexpr void PlanMoveTo(AxisUnit<pos_t, A, Lenght> pos, AxisUnit<steps_t, A, Speed> feedrate) {
PlanMoveTo(A, pos.v, feedrate.v); PlanMoveTo(A, pos.v, feedrate.v);
} }
@ -131,7 +131,7 @@ public:
/// needs to be supplied as the first template argument: PlanMoveTo<axis>(pos, rate). /// needs to be supplied as the first template argument: PlanMoveTo<axis>(pos, rate).
/// @see PlanMoveTo, unitToSteps /// @see PlanMoveTo, unitToSteps
template <Axis A, config::UnitBase B> template <Axis A, config::UnitBase B>
void PlanMoveTo(config::Unit<long double, B, Lenght> pos, constexpr void PlanMoveTo(config::Unit<long double, B, Lenght> pos,
config::Unit<long double, B, Speed> feedrate) { config::Unit<long double, B, Speed> feedrate) {
static_assert(B == axisParams[A].unitBase, "incorrect unit base"); static_assert(B == axisParams[A].unitBase, "incorrect unit base");
PlanMoveTo<A>( PlanMoveTo<A>(
@ -152,7 +152,7 @@ public:
/// be supplied as the first template argument: PlanMove<axis>(pos, rate). /// be supplied as the first template argument: PlanMove<axis>(pos, rate).
/// @see PlanMove, unitToSteps /// @see PlanMove, unitToSteps
template <Axis A> template <Axis A>
void PlanMove(AxisUnit<pos_t, A, Lenght> delta, AxisUnit<steps_t, A, Speed> feedrate) { constexpr void PlanMove(AxisUnit<pos_t, A, Lenght> delta, AxisUnit<steps_t, A, Speed> feedrate) {
PlanMove(A, delta.v, feedrate.v); PlanMove(A, delta.v, feedrate.v);
} }
@ -160,7 +160,7 @@ public:
/// be supplied as the first template argument: PlanMove<axis>(pos, rate). /// be supplied as the first template argument: PlanMove<axis>(pos, rate).
/// @see PlanMove, unitToSteps /// @see PlanMove, unitToSteps
template <Axis A, config::UnitBase B> template <Axis A, config::UnitBase B>
void PlanMove(config::Unit<long double, B, Lenght> delta, constexpr void PlanMove(config::Unit<long double, B, Lenght> delta,
config::Unit<long double, B, Speed> feedrate) { config::Unit<long double, B, Speed> feedrate) {
static_assert(B == axisParams[A].unitBase, "incorrect unit base"); static_assert(B == axisParams[A].unitBase, "incorrect unit base");
PlanMove<A>( PlanMove<A>(