Fixes GetFullStepsPerMotorRev

src/Movement/Kinematics/HangprinterKinematics.cpp

@@ -286,6 +286,11 @@ float HangprinterKinematics::MotorAngToAxisPosition(float ang, uint32_t stepsPer
 	return ((c / k0[axis] + sqrtk1[axis]) * (c / k0[axis] + sqrtk1[axis]) - k1[axis]) / k2[axis] - lineLengthsOrigin[axis];
 }
 
+uint32_t HangprinterKinematics::GetFullStepsPerMotorRev(size_t axis)
+{
+	return fullStepsPerMotorRev[axis];
+}
+
 // Return true if the specified XY position is reachable by the print head reference point.
 bool HangprinterKinematics::IsReachable(float x, float y, bool isCoordinated) const
 {

src/Movement/Kinematics/HangprinterKinematics.h

@@ -40,6 +40,7 @@ class HangprinterKinematics : public Kinematics
 	bool WriteResumeSettings(FileStore *f) const override;
 	void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const override;
 	float MotorAngToAxisPosition(float ang, uint32_t fullStepsPerRevolution, const float stepsPerMm[], size_t axis) override;
+	uint32_t GetFullStepsPerMotorRev(size_t axis) override;
 
 private:
 	static constexpr float DefaultSegmentsPerSecond = 100.0;
@@ -68,7 +69,7 @@ class HangprinterKinematics : public Kinematics
 	float spoolBuildupFactor;
 	float mountedLine[HANGPRINTER_AXES], spoolRadii[HANGPRINTER_AXES];
 	uint32_t mechanicalAdvantage[HANGPRINTER_AXES], actionPoints[HANGPRINTER_AXES];
-	uint32_t motorGearTeeth[HANGPRINTER_AXES], spoolGearTeeth[HANGPRINTER_AXES], fullStepsPerRevolution[HANGPRINTER_AXES];
+	uint32_t motorGearTeeth[HANGPRINTER_AXES], spoolGearTeeth[HANGPRINTER_AXES], fullStepsPerMotorRev[HANGPRINTER_AXES];
 
 	// Derived parameters
 	float printRadiusSquared;

src/Movement/Kinematics/Kinematics.cpp

@@ -57,7 +57,8 @@ bool Kinematics::IsReachable(float x, float y, bool isCoordinated) const
 	return x >= platform.AxisMinimum(X_AXIS) && y >= platform.AxisMinimum(Y_AXIS) && x <= platform.AxisMaximum(X_AXIS) && y <= platform.AxisMaximum(Y_AXIS);
 }
 
-float Kinematics::MotorAngToAxisPosition(float ang, uint32_t fullStepsPerRevolution, const float stepsPerMm[], size_t axis){
+float Kinematics::MotorAngToAxisPosition(float ang, uint32_t fullStepsPerRevolution, const float stepsPerMm[], size_t axis)
+{
 	bool dummy;
 	const Platform& platform = reprap.GetPlatform();
 	const AxisDriversConfig& axisConfig = platform.GetAxisDriversConfig(axis);
@@ -66,6 +67,11 @@ float Kinematics::MotorAngToAxisPosition(float ang, uint32_t fullStepsPerRevolut
 	return (stepsPerRevolution / stepsPerMm[axis]) * ang / 360.0;
 }
 
+uint32_t Kinematics::GetFullStepsPerMotorRev(size_t axis)
+{
+	return 200;
+}
+
 // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed
 // This default implementation just applies the rectangular limits set up by M208 to those axes that have been homed.
 bool Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const

src/Movement/Kinematics/Kinematics.h

@@ -168,6 +168,9 @@ class Kinematics
 	// Given a motor angle relative to that in the origin, what is our position along that axis?
 	virtual float MotorAngToAxisPosition(float ang, uint32_t fullStepsPerRevolution, const float stepsPerMm[], size_t axis);
 
+	// How many full steps does the motor on the axis have?
+	virtual uint32_t GetFullStepsPerMotorRev(size_t axis);
+
 	// Return true if the specified axis is a continuous rotation axis
 	virtual bool IsContinuousRotationAxis(size_t axis) const { return false; }
 
@@ -185,7 +188,6 @@ class Kinematics
 	bool UseRawG0() const { return useRawG0; }
 	float GetSegmentsPerSecond() const pre(UseSegmentation()) { return segmentsPerSecond; }
 	float GetMinSegmentLength() const pre(UseSegmentation()) { return minSegmentLength; }
-	uint32_t GetFullStepsPerMotorRev(size_t axis) const { return fullStepsPerMotorRev[axis]; }
 
 protected:
 	// Constructor. Pass segsPerSecond <= 0.0 to get non-segmented motion.
@@ -201,7 +203,6 @@ class Kinematics
 
 	float segmentsPerSecond;				// if we are using segmentation, the target number of segments/second
 	float minSegmentLength;					// if we are using segmentation, the minimum segment size
-	uint32_t fullStepsPerMotorRev[DRIVES] = { 200 }; // Default full steps per revolution is 200
 
 	static const char * const HomeAllFileName;
 	static const char * const StandardHomingFileNames[];