[Emc-commit] emc2/src/emc/task emccanon.cc,1.77,1.78

[Chris R. <cv...@cv...>]

Modified file emc2/src/emc/task/emccanon.cc

Full file:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emccanon.cc?rev=1.78>

Difference:
<http://cvs.linuxcnc.org/cvs/emc2/src/emc/task/emccanon.cc.diff?r1=1.77;r2=1.78>

Branch: TRUNK

Log:
revision 1.78
date: 2007/02/27 02:53:20;  author: cradek;  state: Exp;  lines: +3 -3
allow 6-axis TOOL_CHANGE_POSITION

--- emccanon.cc	2007/01/18 21:41:51	1.77
+++ emccanon.cc	2007/02/27 02:53:20	1.78
@@ -1187,9 +1187,9 @@
         x = FROM_EXT_LEN(TOOL_CHANGE_POSITION.tran.x);
         y = FROM_EXT_LEN(TOOL_CHANGE_POSITION.tran.y);
         z = FROM_EXT_LEN(TOOL_CHANGE_POSITION.tran.z);
-        a = FROM_EXT_ANG(0.0);
-        b = FROM_EXT_ANG(0.0);
-        c = FROM_EXT_ANG(0.0);
+        a = FROM_EXT_ANG(TOOL_CHANGE_POSITION.a);
+        b = FROM_EXT_ANG(TOOL_CHANGE_POSITION.b);
+        c = FROM_EXT_ANG(TOOL_CHANGE_POSITION.c);
 
         vel = getStraightVelocity(x, y, z, a, b, c);
         acc = getStraightAcceleration(x, y, z, a, b, c);