diff options
Diffstat (limited to 'src/Movement/Move.h')
| -rw-r--r-- | src/Movement/Move.h | 29 |
1 files changed, 16 insertions, 13 deletions
diff --git a/src/Movement/Move.h b/src/Movement/Move.h index 693d763b..dfe02608 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -10,16 +10,19 @@ #include "DDA.h" #include "Libraries/Math/Matrix.h" -#include "DeltaParameters.h" -#include "DeltaProbe.h" #ifdef DUET_NG const unsigned int DdaRingLength = 40; +typedef double floatc_t; // type of matrix element used for delta calibration #else // We are more memory-constrained on the SAM3X const unsigned int DdaRingLength = 20; +typedef float floatc_t; // type of matrix element used for delta calibration #endif +#include "DeltaParameters.h" +#include "DeltaProbe.h" + enum PointCoordinateSet { unset = 0, @@ -82,12 +85,12 @@ public: int GetCoreXYMode() const { return coreXYMode; } void SetCoreXYMode(int mode) { coreXYMode = mode; } float GetCoreAxisFactor(size_t axis) const { return axisFactors[axis]; } - void setCoreAxisFactor(size_t axis, float f) { axisFactors[axis] = f; } + void SetCoreAxisFactor(size_t axis, float f) { axisFactors[axis] = f; } bool IsCoreXYAxis(size_t axis) const; // Return true if the specified axis shares its motors with another void CurrentMoveCompleted(); // Signal that the current move has just been completed bool TryStartNextMove(uint32_t startTime); // Try to start another move, returning true if Step() needs to be called immediately - void MotorTransform(const float machinePos[AXES], int32_t motorPos[AXES]) const; // Convert Cartesian coordinates to delta motor coordinates + void MotorTransform(const float machinePos[MAX_AXES], int32_t motorPos[MAX_AXES]) const; // Convert Cartesian coordinates to delta motor coordinates float MotorFactor(size_t drive, const float directionVector[]) const; // Calculate the movement fraction for a single axis motor of a Cartesian or CoreXY printer void MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_t numDrives) const; // Convert motor coordinates to machine coordinates void EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const; @@ -116,21 +119,21 @@ private: bool StartNextMove(uint32_t startTime); // start the next move, returning true if Step() needs to be called immediately void SetProbedBedEquation(size_t numPoints, StringRef& reply); // When we have a full set of probed points, work out the bed's equation void DoDeltaCalibration(size_t numPoints, StringRef& reply); - void BedTransform(float move[AXES]) const; // Take a position and apply the bed compensations - void GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) const; // Get the current position in untransformed coords - void InverseBedTransform(float move[AXES]) const; // Go from a bed-transformed point back to user coordinates - void AxisTransform(float move[AXES]) const; // Take a position and apply the axis-angle compensations - void InverseAxisTransform(float move[AXES]) const; // Go from an axis transformed point back to user coordinates + void BedTransform(float move[MAX_AXES]) const; // Take a position and apply the bed compensations + void GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) const; // Get the current position in untransformed coords + void InverseBedTransform(float move[MAX_AXES]) 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 BarycentricCoordinates(size_t p0, size_t p1, // Compute the barycentric coordinates of a point in a triangle size_t p2, float x, float y, float& l1, // (see http://en.wikipedia.org/wiki/Barycentric_coordinate_system). float& l2, float& l3) const; float TriangleZ(float x, float y) const; // Interpolate onto a triangular grid - void AdjustDeltaParameters(const float v[], size_t numFactors); // Perform delta adjustment + void AdjustDeltaParameters(const floatc_t v[], size_t numFactors); // Perform delta adjustment 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 - static void PrintMatrix(const char* s, const MathMatrix<float>& m, size_t numRows = 0, size_t maxCols = 0); // for debugging - static void PrintVector(const char *s, const float *v, size_t numElems); // for debugging + static void PrintMatrix(const char* s, const MathMatrix<floatc_t>& m, size_t numRows = 0, size_t maxCols = 0); // for debugging + static void PrintVector(const char *s, const floatc_t *v, size_t numElems); // for debugging bool DDARingAdd(); // Add a processed look-ahead entry to the DDA ring DDA* DDARingGet(); // Get the next DDA ring entry to be run @@ -177,7 +180,7 @@ private: uint32_t deltaProbingStartTime; bool deltaProbing; int coreXYMode; // 0 = Cartesian, 1 = CoreXY, 2 = CoreXZ, 3 = CoreYZ - float axisFactors[AXES]; // How much further the motors need to move for each axis movement, on a CoreXY/CoreXZ/CoreYZ machine + float axisFactors[MAX_AXES]; // How much further the motors need to move for each axis movement, on a CoreXY/CoreXZ/CoreYZ machine unsigned int stepErrors; // count of step errors, for diagnostics }; |