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/*
* DeltaParameters.h
*
* Created on: 20 Apr 2015
* Author: David
*/
#ifndef DELTAPARAMETERS_H_
#define DELTAPARAMETERS_H_
// Class to hold the parameter for a delta machine.
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 GetZCorrection() const { return zCorrection; }
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; }
float GetXTilt() const { return xTilt; }
float GetYTilt() const { return yTilt; }
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(); }
void SetZCorrection(float angle) { zCorrection = angle; Recalc(); }
void SetXTilt(float tilt) { xTilt = tilt; }
void SetYTilt(float tilt) { yTilt = tilt; }
float Transform(const float machinePos[DELTA_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[DELTA_AXES]) const; // Calculate the Cartesian position from the motor positions
floatc_t 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 floatc_t v[]); // Perform 3-, 4-, 6- or 7-factor adjustment
void PrintParameters(StringRef& reply) const; // Print all the parameters for debugging
bool WriteParameters(FileStore *f) const; // Write parameters to file if in delta mode, returning true if no error
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, zCorrection; // Tower position corrections
float endstopAdjustments[DELTA_AXES]; // How much above or below the ideal position each endstop is
float printRadius;
float homedHeight;
float xTilt, yTilt; // How much we need to raise Z for each unit of movement in the +X and +Y directions
// Derived values
bool deltaMode; // True if this is a delta printer
float towerX[DELTA_AXES]; // The X coordinate of each tower
float towerY[DELTA_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_ */
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