From 03305139801c71e2a1e74dddcc797389da7d336e Mon Sep 17 00:00:00 2001
From: Dario Sassi <dario.s@egaltech.com>
Date: Thu, 7 Mar 2019 12:31:41 +0000
Subject: [PATCH] EgtMachKernel 2.1c2 : - aggiunta gestione tre assi rotanti su
 testa.

---
 EgtMachKernel.rc | Bin 11774 -> 11774 bytes
 MachineCalc.cpp  |  18 +++++++++++++-----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index b6ae9a59e8c5e0ea12e027f87299670c6836a54e..fe6bb3737958c08dda551a13c256c3c6150b5482 100644
GIT binary patch
delta 97
zcmewt{V#gMFE&P_&A-`fnHh~HKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmU8!BZvS1

delta 97
zcmewt{V#gMFE&QQ&A-`fnHdcyKa|wnoW?bQ1uSxrY4Qod0+^@}R1`^_2jk{d(jGv4
NK<#LXK~l;gTmU3rBY*$^

diff --git a/MachineCalc.cpp b/MachineCalc.cpp
index adae4c4..892e1fd 100644
--- a/MachineCalc.cpp
+++ b/MachineCalc.cpp
@@ -446,15 +446,23 @@ Machine::CalculateKinematicChain( void)
    }
    // se 3 va bene ( uno dovrà poi avere valore assegnato)
    if ( m_vCalcRotAx.size() == 3) {
-     // se ultimi due di testa, devo invertirne l'ordine
-      if ( m_vCalcRotAx[1].bHead  &&  m_vCalcRotAx[2].bHead)
+      int n2ndHeadRotAx = - 1 ;
+     // se tutti e tre di testa, devo invertire il primo con il terzo
+      if ( m_vCalcRotAx[0].bHead  &&  m_vCalcRotAx[1].bHead  &&  m_vCalcRotAx[2].bHead) {
+         swap( m_vCalcRotAx[0], m_vCalcRotAx[2]) ;
+         n2ndHeadRotAx = 1 ;
+      }
+     // se altrimenti ultimi due di testa, devo invertirne l'ordine
+      else if ( m_vCalcRotAx[1].bHead  &&  m_vCalcRotAx[2].bHead) {
          swap( m_vCalcRotAx[1], m_vCalcRotAx[2]) ;
+         n2ndHeadRotAx = 2 ;
+      }
      // impongo limiti di corsa sul secondo asse rotante di testa
-      if ( m_vCalcRotAx[2].bHead) {
+      if ( n2ndHeadRotAx > 0) {
          Head* pHead = GetHead( m_nCalcHeadId) ;
          if ( pHead != nullptr) {
-            m_vCalcRotAx[2].stroke.Min = max( m_vCalcRotAx[2].stroke.Min, pHead->GetRot2Stroke().Min) ;
-            m_vCalcRotAx[2].stroke.Max = min( m_vCalcRotAx[2].stroke.Max, pHead->GetRot2Stroke().Max) ;
+            m_vCalcRotAx[n2ndHeadRotAx].stroke.Min = max( m_vCalcRotAx[n2ndHeadRotAx].stroke.Min, pHead->GetRot2Stroke().Min) ;
+            m_vCalcRotAx[n2ndHeadRotAx].stroke.Max = min( m_vCalcRotAx[n2ndHeadRotAx].stroke.Max, pHead->GetRot2Stroke().Max) ;
          }
       }
       return true ;