2019-05-04 04:53:15 +00:00
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfigPre.h"
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#include "../module/planner.h"
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class Backlash {
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public:
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#if ENABLED(BACKLASH_GCODE)
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static uint8_t correction;
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#ifdef BACKLASH_DISTANCE_MM
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static float distance_mm[XYZ];
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#endif
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#ifdef BACKLASH_SMOOTHING_MM
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static float smoothing_mm;
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#endif
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static inline void set_correction(const float &v) { correction = MAX(0, MIN(1.0, v)) * all_on; }
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static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
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2019-05-21 02:34:08 +00:00
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#else
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2019-05-04 04:53:15 +00:00
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static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
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#ifdef BACKLASH_DISTANCE_MM
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static constexpr float distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
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#endif
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#ifdef BACKLASH_SMOOTHING_MM
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static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
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#endif
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static inline void set_correction(float) { }
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static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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private:
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static float measured_mm[XYZ];
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static uint8_t measured_count[XYZ];
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public:
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static void measure_with_probe();
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#endif
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static inline float get_measurement(const uint8_t e) {
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// Return the measurement averaged over all readings
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return (
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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measured_count[e] > 0 ? measured_mm[e] / measured_count[e] :
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#endif
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0
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);
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}
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static inline bool has_measurement(const uint8_t e) {
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return (false
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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|| (measured_count[e] > 0)
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#endif
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);
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}
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static inline bool has_any_measurement() {
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return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
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}
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void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
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};
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extern Backlash backlash;
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