1 files changed, 0 insertions, 139 deletions
diff --git a/src/Movement/DeltaProbe.cpp b/src/Movement/DeltaProbe.cpp
deleted file mode 100644
index 37a2f0d8..00000000
--- a/src/Movement/DeltaProbe.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * DeltaProbe.cpp
- *
- *  Created on: 20 Apr 2015
- *      Author: David
- */
-
-#include "DeltaProbe.h"
-#include "DDA.h"
-#include "Platform.h"
-#include "RepRap.h"
-
-// Set up to probe
-bool DeltaProbe::Init(float frequency, float amplitude, float rate, float height)
-{
-debugPrintf("Start probe f=%.1f a=%.2f r=%.2f h=%.1f\n", frequency, amplitude, rate, height);
-	// Sanity check the inputs (we check the max amplitude later)
-	if (frequency < 50.0 || frequency > 1000.0 || amplitude < 0.02 || rate < 0.1 || rate > 10.0 || height < 0.5)
-	{
-		return false;
-	}
-
-debugPrintf("ok so far\n");
-	// Calculate the number of steps for the peak to peak amplitude
-	const float zRate = reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS);
-	normalSteps = (size_t)(amplitude * zRate);
-	if (normalSteps > MaxSteps)
-	{
-		return false;
-	}
-
-debugPrintf("normalSteps=%u\n", normalSteps);
-	// Build the tables of step times for sinusoidal motion
-	const float recipOmega = (float)DDA::stepClockRate/(frequency * 2.0 * PI);
-
-	for (size_t i = 0; i < normalSteps - 1; ++i)
-	{
-		normalStepTable[i] = acos(1.0 - (float)(2 * (i + 1))/(float)normalSteps) * recipOmega;
-	}
-
-	for (size_t i = 0; i < normalSteps; ++i)
-	{
-		incStepTable[i] = acos(1.0 - (float)(2 * (i + 1))/(float)(normalSteps + 1)) * recipOmega;
-	}
-
-	halfCycleTime = (uint32_t)((float)DDA::stepClockRate/(2.0 * frequency));
-	incStepTable[normalSteps] = normalStepTable[normalSteps - 1] = halfCycleTime;
-
-	halfCyclesPerIncrement = 2 * (unsigned int)((frequency / (rate * zRate)) + 0.5);
-	if (halfCyclesPerIncrement < 4)
-	{
-		halfCyclesPerIncrement = 4;
-	}
-	maxIncrements = height * zRate;
-
-const float peakAccel = fsquare(2.0 * PI * frequency) * amplitude * 0.5;
-debugPrintf("halfCycleTime=%u halfCyclesPerIncrement=%u peak accel=%.1f\n", halfCycleTime, halfCyclesPerIncrement, peakAccel);
-debugPrintf("normalTable=");
-for (unsigned int i = 0; i < normalSteps; ++i)
-{
-	debugPrintf(" %u", normalStepTable[i]);
-}
-debugPrintf(" incStepTable=");
-for (unsigned int i = 0; i <= normalSteps; ++i)
-{
-	debugPrintf(" %u", incStepTable[i]);
-}
-debugPrintf("\n");
-	return true;
-}
-
-// Start probing, and return the time that the next step is due
-uint32_t DeltaProbe::Start()
-{
-	// Initialise the dynamic values
-	stepsDone = 0;
-	halfCycleCount = 0;
-	numIncrements = 0;
-	incrementing = false;
-	state = State::normal;
-	return normalStepTable[0];
-}
-
-bool DeltaProbe::GetDirection() const
-{
-	return (halfCycleCount & 1) ? FORWARDS : BACKWARDS;
-}
-
-// Calculate the next step time. Returns 0xFFFFFFFF to stop.
-uint32_t DeltaProbe::CalcNextStepTime()
-{
-	if (state == State::stopped || state == State::overran)
-	{
-		return 0xFFFFFFFF;
-	}
-
-	++stepsDone;
-	if (stepsDone == ((incrementing) ? normalSteps + 1 : normalSteps))
-	{
-		stepsDone = 0;
-		++halfCycleCount;
-		if (state == State::stopping && (halfCycleCount & 1) == 0)
-		{
-			state = State::stopped;
-			return 0xFFFFFFFF;
-		}
-
-		if (incrementing)
-		{
-			++numIncrements;
-			incrementing = false;
-		}
-
-		if (halfCycleCount == halfCyclesPerIncrement)
-		{
-			if (numIncrements == maxIncrements)
-			{
-				state = State::overran;		// another increment is due, but we have already gone down as far as we were asked to
-				return 0xFFFFFFFF;
-			}
-			halfCycleCount = 0;
-			incrementing = true;
-		}
-	}
-
-	return (incrementing)
-			? (halfCyclesPerIncrement * numIncrements * halfCycleTime) + incStepTable[stepsDone]
-			: (halfCyclesPerIncrement * numIncrements * halfCycleTime) + normalStepTable[stepsDone];
-}
-
-void DeltaProbe::Trigger()
-{
-	if (state == State::normal)
-	{
-		state = State::stopping;
-	}
-}
-
-// End