73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#include "../inc/MarlinConfig.h"
|
|
|
|
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
|
|
|
|
#include "x_twist.h"
|
|
#include "../module/probe.h"
|
|
|
|
XATC xatc;
|
|
|
|
bool XATC::enabled;
|
|
float XATC::spacing, XATC::start;
|
|
xatc_array_t XATC::z_offset; // Initialized by settings.load()
|
|
|
|
void XATC::reset() {
|
|
constexpr float xzo[] = XATC_Z_OFFSETS;
|
|
static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
|
|
COPY(z_offset, xzo);
|
|
xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
|
|
xatc.start = probe.min_x();
|
|
enabled = true;
|
|
}
|
|
|
|
void XATC::print_points() {
|
|
SERIAL_ECHOLNPGM(" X-Twist Correction:");
|
|
LOOP_L_N(x, XATC_MAX_POINTS) {
|
|
SERIAL_CHAR(' ');
|
|
if (!isnan(z_offset[x])) {
|
|
if (z_offset[x] >= 0) SERIAL_CHAR('+');
|
|
SERIAL_ECHO_F(z_offset[x], 3);
|
|
}
|
|
else {
|
|
LOOP_L_N(i, 6)
|
|
SERIAL_CHAR(i ? '=' : ' ');
|
|
}
|
|
}
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
|
|
|
|
float XATC::compensation(const xy_pos_t &raw) {
|
|
if (!enabled) return 0;
|
|
if (NEAR_ZERO(spacing)) return 0;
|
|
float t = (raw.x - start) / spacing;
|
|
int i = FLOOR(t);
|
|
LIMIT(i, 0, XATC_MAX_POINTS - 2);
|
|
t -= i;
|
|
return lerp(t, z_offset[i], z_offset[i + 1]);
|
|
}
|
|
|
|
#endif // X_AXIS_TWIST_COMPENSATION
|