68cd21c99c
Enabled gcc compiler warnings. Fixed over 100 warnings including at least one actual and several potential bugs. Simplified delta calibration code and added X and Y parameters to M665 command Implemented chamber temperature commands (thanks chrishamm)
73 lines
3.3 KiB
C++
73 lines
3.3 KiB
C++
/*
|
|
* DeltaParameters.h
|
|
*
|
|
* Created on: 20 Apr 2015
|
|
* Author: David
|
|
*/
|
|
|
|
#ifndef DELTAPARAMETERS_H_
|
|
#define DELTAPARAMETERS_H_
|
|
|
|
// Class to hold the parameter for a delta machine.
|
|
// Some of the values that are currently calculated on demand could be pre-calculated in Recalc() and stored instead.
|
|
class DeltaParameters
|
|
{
|
|
public:
|
|
DeltaParameters() { Init(); }
|
|
|
|
bool IsDeltaMode() const { return deltaMode; }
|
|
float GetDiagonal() const { return diagonal; }
|
|
float GetRadius() const { return radius; }
|
|
float GetPrintRadius() const { return printRadius; }
|
|
float GetXCorrection() const { return xCorrection; }
|
|
float GetYCorrection() const { return yCorrection; }
|
|
float GetTowerX(size_t axis) const { return towerX[axis]; }
|
|
float GetTowerY(size_t axis) const { return towerY[axis]; }
|
|
float GetEndstopAdjustment(size_t axis) const { return endstopAdjustments[axis]; }
|
|
float GetHomedCarriageHeight(size_t axis) const { return homedCarriageHeight + endstopAdjustments[axis]; }
|
|
float GetPrintRadiusSquared() const { return printRadiusSquared; }
|
|
|
|
void Init();
|
|
void SetDiagonal(float d) { diagonal = d; Recalc(); }
|
|
void SetRadius(float r) { radius = r; Recalc(); }
|
|
void SetEndstopAdjustment(size_t axis, float x) { endstopAdjustments[axis] = x; Recalc(); }
|
|
void SetPrintRadius(float r) { printRadius = r; printRadiusSquared = r * r; }
|
|
float GetHomedHeight() const { return homedHeight; }
|
|
void SetHomedHeight(float h) { homedHeight = h; Recalc(); }
|
|
void SetXCorrection(float angle) { xCorrection = angle; Recalc(); }
|
|
void SetYCorrection(float angle) { yCorrection = angle; Recalc(); }
|
|
|
|
float Transform(const float machinePos[AXES], size_t axis) const; // Calculate the motor position for a single tower from a Cartesian coordinate
|
|
void InverseTransform(float Ha, float Hb, float Hc, float machinePos[AXES]) const; // Calculate the Cartesian position from the motor positions
|
|
|
|
float ComputeDerivative(unsigned int deriv, float ha, float hb, float hc); // Compute the derivative of height with respect to a parameter at a set of motor endpoints
|
|
void Adjust(size_t numFactors, const float v[]); // Perform 3-, 4-, 6- or 7-factor adjustment
|
|
void PrintParameters(StringRef& reply) const; // Print all the parameters for debugging
|
|
|
|
private:
|
|
void Recalc();
|
|
void NormaliseEndstopAdjustments(); // Make the average of the endstop adjustments zero
|
|
|
|
const float degreesToRadians = PI/180.0;
|
|
const float radiansToDegrees = 180.0/PI;
|
|
|
|
// Core parameters
|
|
float diagonal; // The diagonal rod length, all 3 are assumed to be the same length
|
|
float radius; // The nominal delta radius, before any fine tuning of tower positions
|
|
float xCorrection, yCorrection; // tower position corrections
|
|
float endstopAdjustments[AXES]; // How much above or below the ideal position each endstop is
|
|
float printRadius;
|
|
float homedHeight;
|
|
|
|
// Derived values
|
|
bool deltaMode; // True if this is a delta printer
|
|
float towerX[AXES]; // The X coordinate of each tower
|
|
float towerY[AXES]; // The Y coordinate of each tower
|
|
float printRadiusSquared;
|
|
float homedCarriageHeight;
|
|
float Xbc, Xca, Xab, Ybc, Yca, Yab;
|
|
float coreFa, coreFb, coreFc;
|
|
float Q, Q2, D2;
|
|
};
|
|
|
|
#endif /* DELTAPARAMETERS_H_ */
|