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/*
* DeltaParameters.h
*
* Created on: 20 Apr 2015
* Author: David
*/
#ifndef LINEARDELTAKINEMATICS_H_
#define LINEARDELTAKINEMATICS_H_
#include "RepRapFirmware.h"
#include "RoundBedKinematics.h"
// Class to hold the parameter for a delta machine.
class LinearDeltaKinematics : public RoundBedKinematics
{
public:
// Constructors
LinearDeltaKinematics() noexcept;
// Overridden base class functions. See Kinematics.h for descriptions.
const char *GetName(bool forStatusReport) const noexcept override;
bool Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) THROWS(GCodeException) override;
bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const noexcept override;
void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const noexcept override;
bool SupportsAutoCalibration() const noexcept override { return true; }
bool DoAutoCalibration(size_t numFactors, const RandomProbePointSet& probePoints, const StringRef& reply) noexcept override;
void SetCalibrationDefaults() noexcept override { Init(); }
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
bool WriteCalibrationParameters(FileStore *f) const noexcept override;
#endif
float GetTiltCorrection(size_t axis) const noexcept override;
LimitPositionResult LimitPosition(float finalCoords[], const float * null initialCoords, size_t numVisibleAxes, AxesBitmap axesToLimit, bool isCoordinated, bool applyM208Limits) const noexcept override;
void GetAssumedInitialPosition(size_t numAxes, float positions[]) const noexcept override;
AxesBitmap AxesToHomeBeforeProbing() const noexcept override { return XyzAxes; }
MotionType GetMotionType(size_t axis) const noexcept override;
HomingMode GetHomingMode() const noexcept override { return HomingMode::homeIndividualMotors; }
AxesBitmap AxesAssumedHomed(AxesBitmap g92Axes) const noexcept override;
AxesBitmap MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const noexcept override;
AxesBitmap GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const noexcept override;
bool QueryTerminateHomingMove(size_t axis) const noexcept override;
void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const noexcept override;
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
bool WriteResumeSettings(FileStore *f) const noexcept override;
#endif
AxesBitmap GetLinearAxes() const noexcept override;
// Public functions specific to this class
float GetDiagonalSquared(size_t tower) const noexcept { return D2[tower]; }
float GetTowerX(size_t axis) const noexcept { return towerX[axis]; }
float GetTowerY(size_t axis) const noexcept { return towerY[axis]; }
protected:
DECLARE_OBJECT_MODEL
OBJECT_MODEL_ARRAY(towers)
private:
void Init() noexcept;
void Recalc() noexcept;
void NormaliseEndstopAdjustments() noexcept; // Make the average of the endstop adjustments zero
float Transform(const float headPos[], size_t axis) const noexcept; // Calculate the motor position for a single tower from a Cartesian coordinate
void ForwardTransform(float Ha, float Hb, float Hc, float headPos[XYZ_AXES]) const noexcept; // Calculate the Cartesian position from the motor positions
floatc_t ComputeDerivative(unsigned int deriv, float ha, float hb, float hc) const noexcept; // 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[]) noexcept; // Perform 3-, 4-, 6- or 7-factor adjustment
void PrintParameters(const StringRef& reply) const noexcept; // Print all the parameters for debugging
static constexpr size_t MaxTowers = 6; // maximum number of delta towers
static constexpr size_t UsualNumTowers = 3; // the usual number of towers, which are the ones we use for forward kinematics and the ones we calibrate
// Axis names used internally
static constexpr size_t DELTA_A_AXIS = 0;
static constexpr size_t DELTA_B_AXIS = 1;
static constexpr size_t DELTA_C_AXIS = 2;
// Delta parameter defaults in mm
static constexpr float DefaultDiagonal = 215.0;
static constexpr float DefaultDeltaRadius = 105.6;
static constexpr float DefaultPrintRadius = 80.0;
static constexpr float DefaultDeltaHomedHeight = 240.0;
// Core parameters
size_t numTowers;
float diagonals[MaxTowers]; // The diagonal rod lengths
float radius; // The nominal delta radius, before any fine tuning of tower positions
float angleCorrections[UsualNumTowers]; // Tower position corrections for the first 3 axes
float endstopAdjustments[MaxTowers]; // 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
float towerX[MaxTowers]; // The X coordinate of each tower
float towerY[MaxTowers]; // The Y coordinate of each tower
float homedCarriageHeights[MaxTowers];
float Xbc, Xca, Xab, Ybc, Yca, Yab;
float coreKa, coreKb, coreKc;
float Q, Q2;
float D2[MaxTowers];
float alwaysReachableHeight;
bool doneAutoCalibration; // True if we have done auto calibration
};
#endif /* LINEARDELTAKINEMATICS_H_ */
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