diff options
Diffstat (limited to 'src/Movement/Move.h')
| -rw-r--r-- | src/Movement/Move.h | 25 |
1 files changed, 6 insertions, 19 deletions
diff --git a/src/Movement/Move.h b/src/Movement/Move.h index 06d99816..e2eeac41 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -15,7 +15,6 @@ #include "BedProbing/RandomProbePointSet.h" #include "BedProbing/Grid.h" #include "Kinematics/Kinematics.h" -#include "DeltaProbe.h" #ifdef DUET_NG const unsigned int DdaRingLength = 30; @@ -67,9 +66,9 @@ public: // Kinematics and related functions Kinematics& GetKinematics() const { return *kinematics; } bool SetKinematics(KinematicsType k); // Set kinematics, return true if successful - bool CartesianToMotorSteps(const float machinePos[MAX_AXES], int32_t motorPos[MAX_AXES]) const; + bool CartesianToMotorSteps(const float machinePos[MaxAxes], int32_t motorPos[MaxAxes]) const; // Convert Cartesian coordinates to delta motor coordinates, return true if successful - void MotorStepsToCartesian(const int32_t motorPos[], size_t numDrives, float machinePos[]) const; + void MotorStepsToCartesian(const int32_t motorPos[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const; // Convert motor coordinates to machine coordinates void EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const; void AdjustMotorPositions(const float_t adjustment[], size_t numMotors); // Perform motor endpoint adjustment @@ -93,8 +92,6 @@ public: FilePosition PausePrint(float positions[DRIVES], float& pausedFeedRate, uint32_t xAxes); // Pause the print as soon as we can bool NoLiveMovement() const; // Is a move running, or are there any queued? - int DoDeltaProbe(float frequency, float amplitude, float rate, float distance); - bool IsExtruding() const; // Is filament being extruded? uint32_t GetScheduledMoves() const { return scheduledMoves; } // How many moves have been scheduled? @@ -110,12 +107,11 @@ private: enum class IdleState : uint8_t { idle, busy, timing }; bool StartNextMove(uint32_t startTime); // start the next move, returning true if Step() needs to be called immediately - void BedTransform(float move[MAX_AXES], uint32_t xAxes) const; // Take a position and apply the bed compensations - void InverseBedTransform(float move[MAX_AXES], uint32_t xAxes) const; // Go from a bed-transformed point back to user coordinates - void AxisTransform(float move[MAX_AXES]) const; // Take a position and apply the axis-angle compensations - void InverseAxisTransform(float move[MAX_AXES]) const; // Go from an axis transformed point back to user coordinates + void BedTransform(float move[MaxAxes], uint32_t xAxes) const; // Take a position and apply the bed compensations + void InverseBedTransform(float move[MaxAxes], uint32_t xAxes) const; // Go from a bed-transformed point back to user coordinates + void AxisTransform(float move[MaxAxes]) const; // Take a position and apply the axis-angle compensations + void InverseAxisTransform(float move[MaxAxes]) const; // Go from an axis transformed point back to user coordinates void JustHomed(size_t axis, float hitPoint, DDA* hitDDA); // Deal with setting positions after a drive has been homed - void DeltaProbeInterrupt(); // Step ISR when using the experimental delta probe bool DDARingAdd(); // Add a processed look-ahead entry to the DDA ring DDA* DDARingGet(); // Get the next DDA ring entry to be run @@ -158,11 +154,6 @@ private: unsigned int stepErrors; // count of step errors, for diagnostics uint32_t scheduledMoves; // Move counters for the code queue volatile uint32_t completedMoves; // This one is modified by an ISR, hence volatile - - // Parameters for the experimental accoustic delta probe - DeltaProbe deltaProbe; // Delta probing state - uint32_t deltaProbingStartTime; - bool deltaProbing; }; //****************************************************************************************************** @@ -202,10 +193,6 @@ inline void Move::Interrupt() { } while (currentDda->Step()); } - else if (deltaProbing) - { - DeltaProbeInterrupt(); - } } #endif /* MOVE_H_ */ |