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Marlin-Artillery-M600/Marlin/src/feature/backlash.h

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/**
* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
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* 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#include "../module/planner.h"
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constexpr uint8_t all_on = 0xFF, all_off = 0x00;
class Backlash {
public:
#ifdef BACKLASH_DISTANCE_MM
#if ENABLED(BACKLASH_GCODE)
static float distance_mm[XYZ];
#else
static const float distance_mm[XYZ];
//static constexpr float distance_mm[XYZ] = BACKLASH_DISTANCE_MM; // compiler barks at this
#endif
#endif
#if ENABLED(BACKLASH_GCODE)
static uint8_t correction;
#ifdef BACKLASH_SMOOTHING_MM
static float smoothing_mm;
#endif
static inline void set_correction(const float &v) { correction = MAX(0, MIN(1.0, v)) * all_on; }
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
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#else
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
#ifdef BACKLASH_SMOOTHING_MM
static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
static inline void set_correction(float) { }
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
private:
static float measured_mm[XYZ];
static uint8_t measured_count[XYZ];
public:
static void measure_with_probe();
#endif
static inline float get_measurement(const uint8_t e) {
// Return the measurement averaged over all readings
return (
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
measured_count[e] > 0 ? measured_mm[e] / measured_count[e] :
#endif
0
);
#if DISABLED(MEASURE_BACKLASH_WHEN_PROBING)
UNUSED(e);
#endif
}
static inline bool has_measurement(const uint8_t e) {
return (false
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
|| (measured_count[e] > 0)
#endif
);
#if DISABLED(MEASURE_BACKLASH_WHEN_PROBING)
UNUSED(e);
#endif
}
static inline bool has_any_measurement() {
return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
}
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
};
extern Backlash backlash;