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