void ZGridStrategy::normalize_grid()
{
float min = 100.0F, // set large start value
norm_offset = 0;
// find minimum value in offset grid
for (int i = 0; i < probe_points; i++)
if (this->pData[i] < min)
min = this->pData[i];
// creates addition offset to set minimum value to zero.
norm_offset = -min;
// adds the offset to create a table of deltas, normalzed to minimum zero
for (int i = 0; i < probe_points; i++)
this->pData[i] += norm_offset;
// add the offset to the current Z homing offset to preserve full probed offset.
this->setZoffset(getZhomeoffset() + norm_offset);
}
bool ZGridStrategy::doProbing(StreamOutput *stream) // probed calibration
{
// home first using selected mode: NOHOME, HOMEXY, HOMEXYZ
this->homexyz();
// deactivate correction during moves
this->setAdjustFunction(false);
for (int i=0; i<probe_points; i++) {
this->pData[i] = 0.0F; // Clear the ZGrid
}
if (this->wait_for_probe) {
this->cal[X_AXIS] = this->probe_x; //bed_x/2.0f;
this->cal[Y_AXIS] = this->probe_y; //bed_y/2.0f;
this->cal[Z_AXIS] = this->probe_z; //bed_z/2.0f; // Position head for probe attachment
this->move(this->cal, slow_rate); // Move to probe attachment point
stream->printf("*** Ensure probe is attached and press probe when done ***\n");
while(!zprobe->getProbeStatus()) { // Wait for button press
THEKERNEL->call_event(ON_IDLE);
};
}
this->in_cal = true; // In calbration mode
this->cal[X_AXIS] = 0.0f; // Clear calibration position
this->cal[Y_AXIS] = 0.0f;
this->cal[Z_AXIS] = std::get<Z_AXIS>(this->probe_offsets) + zprobe->getProbeHeight();
this->move(this->cal, slow_rate); // Move to probe start point
for (int probes = 0; probes < probe_points; probes++) {
int pindex = 0;
// z = z home offset - probed distance
float z = getZhomeoffset() -zprobe->probeDistance((this->cal[X_AXIS] + this->cal_offset_x)-std::get<X_AXIS>(this->probe_offsets),
(this->cal[Y_AXIS] + this->cal_offset_y)-std::get<Y_AXIS>(this->probe_offsets));
pindex = int(this->cal[X_AXIS]/this->bed_div_x + 0.25)*this->numCols + int(this->cal[Y_AXIS]/this->bed_div_y + 0.25);
this->next_cal(); // Calculate next calibration position
this->pData[pindex] = z ; // save the offset
}
stream->printf("\nCalibration done.\n");
if (this->wait_for_probe) { // Only do this it the config calls for probe removal position
this->cal[X_AXIS] = this->bed_x/2.0f;
this->cal[Y_AXIS] = this->bed_y/2.0f;
this->cal[Z_AXIS] = this->bed_z/2.0f; // Position head for probe removal
this->move(this->cal, slow_rate);
stream->printf("Please remove probe\n");
}
// activate correction
//this->normalize_grid();
this->normalize_grid_2home();
this->setAdjustFunction(true);
this->in_cal = false;
return true;
}
bool ZGridStrategy::saveGrid(std::string args)
{
args = "/sd/Zgrid." + args;
StreamOutput *ZMap_file = new FileStream(args.c_str());
ZMap_file->printf("P%i %i %i %1.3f\n", probe_points, this->numRows, this->numCols, getZhomeoffset()); // Store probe points to prevent loading undefined grid files
for (int pos = 0; pos < probe_points; pos++) {
ZMap_file->printf("%1.3f\n", this->pData[pos]);
}
delete ZMap_file;
return true;
}
