public static void printHeights()
{
UserInterface.logConsole("Center:" + Heights.center + " X:" + Heights.X + " XOpp:" + Heights.XOpp + " Y:" + Heights.Y + " YOpp:" + Heights.YOpp + " Z:" + Heights.Z + " ZOpp:" + Heights.ZOpp);
}
private static void alphaRotation(ref float X, ref float XOpp, ref float Y, ref float YOpp, ref float Z, ref float ZOpp)
{
float offsetX = EEPROM.offsetX;
float offsetY = EEPROM.offsetY;
float offsetZ = EEPROM.offsetZ;
float accuracy = UserVariables.accuracy;
//change to object
float alphaRotationPercentage = UserVariables.alphaRotationPercentage;
int k = 0;
while (k < 100)
{
//X Alpha Rotation
if (YOpp > ZOpp)
{
float ZYOppAvg = (YOpp - ZOpp) / 2;
EEPROM.A = EEPROM.A + (ZYOppAvg * alphaRotationPercentage); // (0.5/((diff y0 and z0 at X + 0.5)-(diff y0 and z0 at X = 0))) * 2 = 1.75
YOpp = YOpp - ZYOppAvg;
ZOpp = ZOpp + ZYOppAvg;
}
else if (YOpp < ZOpp)
{
float ZYOppAvg = (ZOpp - YOpp) / 2;
EEPROM.A = EEPROM.A - (ZYOppAvg * alphaRotationPercentage);
YOpp = YOpp + ZYOppAvg;
ZOpp = ZOpp - ZYOppAvg;
}
//Y Alpha Rotation
if (ZOpp > XOpp)
{
float XZOppAvg = (ZOpp - XOpp) / 2;
EEPROM.B = EEPROM.B + (XZOppAvg * alphaRotationPercentage);
ZOpp = ZOpp - XZOppAvg;
XOpp = XOpp + XZOppAvg;
}
else if (ZOpp < XOpp)
{
float XZOppAvg = (XOpp - ZOpp) / 2;
EEPROM.B = EEPROM.B - (XZOppAvg * alphaRotationPercentage);
ZOpp = ZOpp + XZOppAvg;
XOpp = XOpp - XZOppAvg;
}
//Z Alpha Rotation
if (XOpp > YOpp)
{
float YXOppAvg = (XOpp - YOpp) / 2;
EEPROM.C = EEPROM.C + (YXOppAvg * alphaRotationPercentage);
XOpp = XOpp - YXOppAvg;
YOpp = YOpp + YXOppAvg;
}
else if (XOpp < YOpp)
{
float YXOppAvg = (YOpp - XOpp) / 2;
EEPROM.C = EEPROM.C - (YXOppAvg * alphaRotationPercentage);
XOpp = XOpp + YXOppAvg;
YOpp = YOpp - YXOppAvg;
}
//determine if value is close enough
float hTow = Math.Max(Math.Max(XOpp, YOpp), ZOpp);
float lTow = Math.Min(Math.Min(XOpp, YOpp), ZOpp);
float towDiff = hTow - lTow;
if (towDiff < UserVariables.calculationAccuracy && towDiff > -UserVariables.calculationAccuracy)
{
k = 100;
//log
UserInterface.logConsole("ABC:" + EEPROM.A + " " + EEPROM.B + " " + EEPROM.C);
}
else
{
k++;
}
}
}
public static void heuristicLearning()
{
//find base heights
//find heights with each value increased by 1 - HRad, tower offset 1-3, diagonal rod
if (UserVariables.advancedCalCount == 0)
{//start
if (Connection._serialPort.IsOpen)
{
EEPROM.stepsPerMM += 1;
UserInterface.logConsole("Setting steps per millimeter to: " + (EEPROM.stepsPerMM).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 1)
{//get diagonal rod percentages
UserVariables.deltaTower = ((Heights.teX - Heights.X) + (Heights.teY - Heights.Y) + (Heights.teZ - Heights.Z)) / 3;
UserVariables.deltaOpp = ((Heights.teXOpp - Heights.XOpp) + (Heights.teYOpp - Heights.YOpp) + (Heights.teZOpp - Heights.ZOpp)) / 3;
if (Connection._serialPort.IsOpen)
{
EEPROM.stepsPerMM -= 1;
UserInterface.logConsole("Setting steps per millimeter to: " + (EEPROM.stepsPerMM).ToString());
//set Hrad +1
EEPROM.HRadius += 1;
UserInterface.logConsole("Setting horizontal radius to: " + (EEPROM.HRadius).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 2)
{//get HRad percentages
UserVariables.HRadRatio = -(Math.Abs((Heights.X - Heights.teX) + (Heights.Y - Heights.teY) + (Heights.Z - Heights.teZ) + (Heights.XOpp - Heights.teXOpp) + (Heights.YOpp - Heights.teYOpp) + (Heights.ZOpp - Heights.teZOpp))) / 6;
if (Connection._serialPort.IsOpen)
{
//reset horizontal radius
EEPROM.HRadius -= 1;
UserInterface.logConsole("Setting horizontal radius to: " + (EEPROM.HRadius).ToString());
//set X offset
EEPROM.offsetX += 80;
UserInterface.logConsole("Setting offset X to: " + (EEPROM.offsetX).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 3)
{//get X offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.X - Heights.teX));
UserVariables.mainOppPerc += Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.X - Heights.teX));
UserVariables.towPerc += (Math.Abs((Heights.Y - Heights.teY) / (Heights.X - Heights.teX)) + Math.Abs((Heights.Z - Heights.teZ) / (Heights.X - Heights.teX))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.X - Heights.teX)) + Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.X - Heights.teX))) / 2;
if (Connection._serialPort.IsOpen)
{
//reset X offset
EEPROM.offsetX -= 80;
UserInterface.logConsole("Setting offset X to: " + (EEPROM.offsetX).ToString());
//set Y offset
EEPROM.offsetY += 80;
UserInterface.logConsole("Setting offset Y to: " + (EEPROM.offsetY).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 4)
{//get Y offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.Y - Heights.teY));
UserVariables.mainOppPerc += Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.Y - Heights.teY));
UserVariables.towPerc += (Math.Abs((Heights.X - Heights.teX) / (Heights.Y - Heights.teY)) + Math.Abs((Heights.Z - Heights.teZ) / (Heights.Y - Heights.teY))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.Y - Heights.teY)) + Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.Y - Heights.teY))) / 2;
if (Connection._serialPort.IsOpen)
{
//reset Y offset
EEPROM.offsetY -= 80;
UserInterface.logConsole("Setting offset Y to: " + (EEPROM.offsetY).ToString());
//set Z offset
EEPROM.offsetZ += 80;
UserInterface.logConsole("Setting offset Z to: " + (EEPROM.offsetZ).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 5)
{//get Z offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.Z - Heights.teZ));
UserVariables.mainOppPerc += Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.Z - Heights.teZ));
UserVariables.towPerc += (Math.Abs((Heights.X - Heights.teX) / (Heights.Z - Heights.teZ)) + Math.Abs((Heights.Y - Heights.teY) / (Heights.Z - Heights.teZ))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.Z - Heights.teZ)) + Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.Z - Heights.teZ))) / 2;
if (Connection._serialPort.IsOpen)
{
//set Z offset
EEPROM.offsetZ -= 80;
UserInterface.logConsole("Setting offset Z to: " + (EEPROM.offsetZ).ToString());
//set alpha rotation offset perc X
EEPROM.A += 1;
UserInterface.logConsole("Setting Alpha A to: " + (EEPROM.A).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 6)//6
{
//get A alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.YOpp - Heights.ZOpp) - (Heights.teYOpp - Heights.teZOpp)));
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc X
EEPROM.A -= 1;
UserInterface.logConsole("Setting Alpha A to: " + (EEPROM.A).ToString());
//set alpha rotation offset perc Y
EEPROM.B += 1;
UserInterface.logConsole("Setting Alpha B to: " + (EEPROM.B).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 7) //7
{ //get B alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.ZOpp - Heights.XOpp) - (Heights.teXOpp - Heights.teXOpp)));
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc Y
EEPROM.B -= 1;
UserInterface.logConsole("Setting Alpha B to: " + (EEPROM.B).ToString());
//set alpha rotation offset perc Z
EEPROM.C += 1;
UserInterface.logConsole("Setting Alpha C to: " + (EEPROM.C).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 8) //8
{ //get C alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.XOpp - Heights.YOpp) - (Heights.teXOpp - Heights.teYOpp)));
UserVariables.alphaRotationPercentage /= 3;
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc Z
EEPROM.C -= 1;
UserInterface.logConsole("Setting Alpha C to: " + (EEPROM.C).ToString());
}
UserInterface.logConsole("Alpha offset percentage: " + UserVariables.alphaRotationPercentage);
UserVariables.advancedCalibration = false;
Program.mainFormTest.setButtonValues();
UserVariables.advancedCalCount = 0;
//check heights
UserInterface.setAdvancedCalVars();
}
GCode.checkHeights = true;
}
/*
* public void analyzeGeometry(float X, float XOpp, float Y, float YOpp, float Z, float ZOpp)
* {
* int analyzeCount = 0;
*
*
* UserInterface.logConsole("Expect a slight inaccuracy in the geometry analysis; basic calibration.");
* }
*/
private static void towerOffsets(ref float X, ref float XOpp, ref float Y, ref float YOpp, ref float Z, ref float ZOpp)
{
int j = 0;
float accuracy = UserVariables.calculationAccuracy;
float tempX2 = X;
float tempXOpp2 = XOpp;
float tempY2 = Y;
float tempYOpp2 = YOpp;
float tempZ2 = Z;
float tempZOpp2 = ZOpp;
float offsetX = EEPROM.offsetX;
float offsetY = EEPROM.offsetY;
float offsetZ = EEPROM.offsetZ;
float stepsPerMM = EEPROM.stepsPerMM;
while (j < 100)
{
if (Math.Abs(tempX2) > UserVariables.accuracy / 2 || Math.Abs(tempY2) > UserVariables.accuracy / 2 || Math.Abs(tempZ2) > UserVariables.accuracy / 2)
{
offsetX += tempX2 * stepsPerMM * (1 / 0.60F);
tempXOpp2 += tempX2 * (0.5F / 0.60F);
tempY2 += tempX2 * (0.3F / 0.60F);
tempYOpp2 += tempX2 * (-0.25F / 0.60F);
tempZ2 += tempX2 * (0.3F / 0.60F);
tempZOpp2 += tempX2 * (-0.25F / 0.60F);
tempX2 += tempX2 / -1;
offsetY += tempY2 * stepsPerMM * (1 / 0.60F);
tempYOpp2 += tempY2 * (0.5F / 0.60F);
tempX2 += tempY2 * (0.3F / 0.60F);
tempXOpp2 += tempY2 * (-0.25F / 0.60F);
tempZ2 += tempY2 * (0.3F / 0.60F);
tempZOpp2 += tempY2 * (-0.25F / 0.60F);
tempY2 += tempY2 / -1;
offsetZ += tempZ2 * stepsPerMM * (1 / 0.60F);
tempZOpp2 += tempZ2 * (0.5F / 0.60F);
tempX2 += tempZ2 * (0.3F / 0.60F);
tempXOpp2 += tempZ2 * (-0.25F / 0.60F);
tempY2 += tempZ2 * (0.3F / 0.60F);
tempYOpp2 += tempZ2 * (-0.25F / 0.60F);
tempZ2 += tempZ2 / -1;
tempX2 = Validation.checkZero(tempX2);
tempY2 = Validation.checkZero(tempY2);
tempZ2 = Validation.checkZero(tempZ2);
tempXOpp2 = Validation.checkZero(tempXOpp2);
tempYOpp2 = Validation.checkZero(tempYOpp2);
tempZOpp2 = Validation.checkZero(tempZOpp2);
float tempComb = tempX2 + tempY2 + tempZ2;
float tempCombAbs = Math.Abs(tempX2) + Math.Abs(tempY2) + Math.Abs(tempZ2);
if (Math.Abs(tempX2) <= UserVariables.accuracy && Math.Abs(tempY2) <= UserVariables.accuracy && Math.Abs(tempZ2) <= UserVariables.accuracy)
{
UserInterface.logConsole("VHeights :" + tempX2 + " " + tempXOpp2 + " " + tempY2 + " " + tempYOpp2 + " " + tempZ2 + " " + tempZOpp2);
UserInterface.logConsole("Offs :" + offsetX + " " + offsetY + " " + offsetZ);
UserInterface.logConsole("No Drad correction");
float smallest = Math.Min(offsetX, Math.Min(offsetY, offsetZ));
offsetX -= smallest;
offsetY -= smallest;
offsetZ -= smallest;
UserInterface.logConsole("Offs :" + offsetX + " " + offsetY + " " + offsetZ);
X = tempX2;
XOpp = tempXOpp2;
Y = tempY2;
YOpp = tempYOpp2;
Z = tempZ2;
ZOpp = tempZOpp2;
//round to the nearest whole number
EEPROM.offsetX = Convert.ToInt32(offsetX);
EEPROM.offsetY = Convert.ToInt32(offsetY);
EEPROM.offsetZ = Convert.ToInt32(offsetZ);
j = 100;
}
else if (j == 99)
{
UserInterface.logConsole("VHeights :" + tempX2 + " " + tempXOpp2 + " " + tempY2 + " " + tempYOpp2 + " " + tempZ2 + " " + tempZOpp2);
UserInterface.logConsole("Offs :" + offsetX + " " + offsetY + " " + offsetZ);
float dradCorr = tempComb * -0.85F;
EEPROM.DA += dradCorr;
EEPROM.DB += dradCorr;
EEPROM.DC += dradCorr;
EEPROM.offsetX = 200;
EEPROM.offsetY = 200;
EEPROM.offsetZ = 200;
UserInterface.logConsole("Drad correction: " + dradCorr);
UserInterface.logConsole("DRad: " + EEPROM.DA.ToString() + ", " + EEPROM.DB.ToString() + ", " + EEPROM.DC.ToString());
j = 100;
}
else
{
j++;
}
//UserInterface.logConsole("Offs :" + offsetX + " " + offsetY + " " + offsetZ);
//UserInterface.logConsole("VHeights :" + tempX2 + " " + tempXOpp2 + " " + tempY2 + " " + tempYOpp2 + " " + tempZ2 + " " + tempZOpp2);
}
else
{
xyzOffset = false;
j = 100;
}
}
if (EEPROM.offsetX > 1000 || EEPROM.offsetY > 1000 || EEPROM.offsetZ > 1000)
{
UserInterface.logConsole("XYZ offset calibration error, setting default values.");
UserInterface.logConsole("XYZ offsets before damage prevention: X" + offsetX + " Y" + offsetY + " Z" + offsetZ);
offsetX = 0;
offsetY = 0;
offsetZ = 0;
}
}
