// Rotate the grid by rotation, keeping cell contents.
// rotation must be a multiple of 90 degrees.
// NOTE: due to partial cells, cell coverage in the rotated grid will be
// inexact. This is why there is no Rotate for the generic BBGrid.
// TODO(rays) investigate fixing this inaccuracy by moving the origin after
// rotation.
void IntGrid::Rotate(const FCOORD& rotation) {
ASSERT_HOST(rotation.x() == 0.0f || rotation.y() == 0.0f);
ICOORD old_bleft(bleft());
ICOORD old_tright(tright());
int old_width = gridwidth();
int old_height = gridheight();
TBOX box(bleft(), tright());
box.rotate(rotation);
int* old_grid = grid_;
grid_ = NULL;
Init(gridsize(), box.botleft(), box.topright());
// Iterate over the old grid, copying data to the rotated position in the new.
int oldi = 0;
FCOORD x_step(rotation);
x_step *= gridsize();
for (int oldy = 0; oldy < old_height; ++oldy) {
FCOORD line_pos(old_bleft.x(), old_bleft.y() + gridsize() * oldy);
line_pos.rotate(rotation);
for (int oldx = 0; oldx < old_width; ++oldx, line_pos += x_step, ++oldi) {
int grid_x, grid_y;
GridCoords(static_cast<int>(line_pos.x() + 0.5),
static_cast<int>(line_pos.y() + 0.5),
&grid_x, &grid_y);
grid_[grid_y * gridwidth() + grid_x] = old_grid[oldi];
}
}
delete [] old_grid;
}
/// find X_MAX endstop
void home_x_positive() {
queue_wait();
#if defined X_MAX_PIN
uint8_t denoise_count = 0;
// home X
x_enable();
// hit home hard
x_direction(1);
while (denoise_count < 8) {
// denoise
if (x_max())
denoise_count++;
else
denoise_count = 0;
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) MAXIMUM_FEEDRATE_X)));
}
denoise_count = 0;
// back off slowly
x_direction(0);
while (x_max() != 0) {
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) SEARCH_FEEDRATE_X)));
}
// set X home
TARGET t = {0, 0, 0, 0, 0};
// set position to MAX
startpoint.X = current_position.X = (int32_t)(X_MAX * 1000.0);
// go to zero
t.F = MAXIMUM_FEEDRATE_X;
enqueue(&t);
#endif
}
/// find X MIN endstop
void home_x_negative() {
queue_wait();
#if defined X_MIN_PIN
uint8_t denoise_count = 0;
// home X
x_enable();
// hit home hard
x_direction(0);
while (denoise_count < 8) {
// denoise
if (x_min())
denoise_count++;
else
denoise_count = 0;
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) MAXIMUM_FEEDRATE_X)));
}
denoise_count = 0;
// back off slowly
x_direction(1);
while (x_min() != 0) {
// step
x_step();
delay(5);
unstep();
// wait until next step time
delay((uint32_t) (60.0 * 1000000.0 / STEPS_PER_M_X * 1000.0 / ((float) SEARCH_FEEDRATE_X)));
}
// set X home
startpoint.X = current_position.X = 0;
#endif
}
void defiSite::print(FILE* f) const {
fprintf(f, "Site '%p' %s\n", name(),
orientStr());
fprintf(f, " DO X %g %g BY %g\n",
x_orig(),
x_num(),
x_step());
fprintf(f, " DO Y %g %g BY %g\n",
y_orig(),
y_num(),
y_step());
}
