From 745d009accac68818d8d920201d034cd23b1b837 Mon Sep 17 00:00:00 2001
From: IMback <philipp@uvos.net>
Date: Mon, 25 Sep 2017 19:22:43 +0200
Subject: [PATCH] compile fix

---
 plotter.cpp | 25 +++++++++++++------------
 plotter.h   |  4 ++--
 2 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/plotter.cpp b/plotter.cpp
index 40043ad..90521f9 100644
--- a/plotter.cpp
+++ b/plotter.cpp
@@ -60,14 +60,14 @@ void Plotter::pu()
     }
 }
 
-static uint16_t Plotter::diamondAngle(int16_t y, int16_t x) //0 - 40000
+uint16_t Plotter::diamondAngle(int16_t y, int16_t x) //0 - 40000
 {
     const int32_t scalar = 10000;
     if (y >= 0) return (x >= 0 ? ((int32_t)y*scalar)/(x+y) : 1*scalar-((int32_t)x*scalar)/(-x+y)); 
     else return (x < 0 ? 2*scalar-((int32_t)y*scalar)/(-x-y) : 3*scalar+((int32_t)x*scalar)/(x-y)); 
 }
 
-static uint16_t calculateDelayTime(uint16_t currentDiamondAngle, uint16_t prevDiamondAngle, uint16_t prevSteps)
+uint16_t Plotter::calculateDelayTime(uint16_t currentDiamondAngle, uint16_t prevDiamondAngle, uint16_t prevSteps)
 {
     uint16_t delayTime = abs(currentDiamondAngle - prevDiamondAngle);
     if ( delayTime > 20000) delayTime = delayTime - 20000;
@@ -85,11 +85,11 @@ void Plotter::moveRelative(int32_t deltaX, int32_t deltaY)
     if( deltaX > 50 ||  deltaY > 50 )
     {
         //compensate backlash
-        if((prevDiamondAngle < 10000  || prevDiamondAngle > 30000 ) && deltaX < 0) deltaX = deltaX - BACKLASHX;
-        else ((prevDiamondAngle > 10000  && prevDiamondAngle < 30000 ) && deltaX > 0) deltaX = deltaX + BACKLASHX;
+        if((_prevDiamondAngle < 10000  || _prevDiamondAngle > 30000 ) && deltaX < 0) deltaX = deltaX - BACKLASHX;
+        else if ((_prevDiamondAngle > 10000  && _prevDiamondAngle < 30000 ) && deltaX > 0) deltaX = deltaX + BACKLASHX;
         
-        if((prevDiamondAngle < 20000) && deltaY < 0) deltaY = deltaY - BACKLASHY;
-        else if ((prevDiamondAngle > 20000) && deltaY > 0) deltaY = deltaY + BACKLASHY;
+        if((_prevDiamondAngle < 20000) && deltaY < 0) deltaY = deltaY - BACKLASHY;
+        else if ((_prevDiamondAngle > 20000) && deltaY > 0) deltaY = deltaY + BACKLASHY;
         
         //delay
         uint16_t currentDiamondAngle = diamondAngle(deltaX,deltaY);
@@ -123,17 +123,18 @@ void Plotter::moveRelative(int32_t deltaX, int32_t deltaY)
             _pwm.setDutyB(65535-(currentPos.y+i*StepSizeY)*SCALEY);
             _delay_us(2000);
         }
+        //set prev
+        _prevDiamondAngle = currentDiamondAngle;
+        _prevSteps = steps;
     }
-    else delay_us(100);
+    else _delay_us(100);
 
     _pwm.setDutyA(65535-(deltaX+currentPos.x)*SCALEX);
-    _pwm.setDutyB(65535-(deltaY+currentPos.Y)*SCALEY);
+    _pwm.setDutyB(65535-(deltaY+currentPos.y)*SCALEY);
     
     if( deltaX > 50 ||  deltaY > 50 )
     {
-        //set prev
-        prevDiamondAngle = currentDiamondAngle;
-        prevSteps = steps;
+        //set current position
         currentPos.x = deltaX+currentPos.x;
         currentPos.y = deltaY+currentPos.y;
     }
@@ -148,6 +149,6 @@ void Plotter::moveto(const uint16_t nx, const uint16_t ny)
 {
     int32_t deltaX = nx - currentPos.x; //117 units per mm
     int32_t deltaY = ny - currentPos.y; //121 units per mm
-    moveRelatvie(deltaX, deltaY);
+    moveRelative(deltaX, deltaY);
 }
 
diff --git a/plotter.h b/plotter.h
index 4e0f157..55e8676 100644
--- a/plotter.h
+++ b/plotter.h
@@ -26,8 +26,8 @@ private:
 
     Serial* _serial;
     
-    static uint16_t diamondAngle(int16_t y, int16_t x);
-    static uint16_t calculateDelayTime(uint16_t currentDiamondAngle, uint16_t prevDiamondAngle, uint16_t prevSteps);
+    uint16_t diamondAngle(int16_t y, int16_t x);
+    uint16_t calculateDelayTime(uint16_t currentDiamondAngle, uint16_t prevDiamondAngle, uint16_t prevSteps);
     
     
 public: