public static void setZOpp(float value)
{
value = Validation.checkZero(value);
ZOpp = value;
}
public static void setAlphaRotationPercentageZ(float value)
{
value = Validation.checkZero(value);
alphaRotationPercentageZ = value;
}
public static void setY(float value)
{
value = Validation.checkZero(value);
Y = value;
}
public static void setDRadRatio(float value)
{
value = Validation.checkZero(value);
DRadRatio = value;
}
public static void setAccuracy(float value)
{
value = Validation.checkZero(value);
accuracy = value;
}
public static void setOffsetZ(float value)
{
value = Validation.checkZero(value);
offsetZ = value;
}
//set
public static void setCenter(float value)
{
value = Validation.checkZero(value);
center = value;
}
public static void setZProbe(float value)
{
value = Validation.checkZero(value);
zProbe = value;
}
public static void setHRadius(float value)
{
value = Validation.checkZero(value);
HRadius = value;
}
public static void setZMaxLength(float value)
{
value = Validation.checkZero(value);
zMaxLength = value;
}
public static void setTempSPM(float value)
{
value = Validation.checkZero(value);
tempSPM = value;
}
//set
public static void setSPM(float value)
{
value = Validation.checkZero(value);
stepsPerMM = value;
}
/*
* 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;
}
}
/*
* 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;
float towMain = UserVariables.offsetCorrection; //0.6
float oppMain = UserVariables.mainOppPerc; //0.5
float towSub = UserVariables.towPerc; //0.3
float oppSub = UserVariables.oppPerc; //-0.25
while (j < 100)
{
if (Math.Abs(tempX2) > UserVariables.accuracy || Math.Abs(tempY2) > UserVariables.accuracy || Math.Abs(tempZ2) > UserVariables.accuracy)
{
offsetX -= tempX2 * stepsPerMM * (1 / towMain);
tempXOpp2 -= tempX2 * (oppMain / towMain);
tempY2 -= tempX2 * (towSub / towMain);
tempYOpp2 -= tempX2 * (-oppSub / towMain);
tempZ2 -= tempX2 * (towSub / towMain);
tempZOpp2 -= tempX2 * (-oppSub / towMain);
tempX2 -= tempX2 / 1;
offsetY -= tempY2 * stepsPerMM * (1 / towMain);
tempYOpp2 -= tempY2 * (oppMain / towMain);
tempX2 -= tempY2 * (towSub / towMain);
tempXOpp2 -= tempY2 * (-oppSub / towMain);
tempZ2 -= tempY2 * (towSub / towMain);
tempZOpp2 -= tempY2 * (-oppSub / towMain);
tempY2 -= tempY2 / 1;
offsetZ -= tempZ2 * stepsPerMM * (1 / towMain);
tempZOpp2 -= tempZ2 * (oppMain / towMain);
tempX2 -= tempZ2 * (towSub / towMain);
tempXOpp2 += tempZ2 * (-oppSub / towMain);
tempY2 -= tempZ2 * (towSub / towMain);
tempYOpp2 -= tempZ2 * (-oppSub / towMain);
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);
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 Hrad 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 = tempX2 * -1.25F;
float HRadRatio = UserVariables.HRadRatio;
EEPROM.HRadius += dradCorr;
EEPROM.offsetX = 0;
EEPROM.offsetY = 0;
EEPROM.offsetZ = 0;
//hradsa = dradcorr
//solve inversely from previous method
float HRadOffset = HRadRatio * dradCorr;
tempX2 -= HRadOffset;
tempY2 -= HRadOffset;
tempZ2 -= HRadOffset;
tempXOpp2 -= HRadOffset;
tempYOpp2 -= HRadOffset;
tempZOpp2 -= HRadOffset;
UserInterface.logConsole("Hrad correction: " + dradCorr);
UserInterface.logConsole("HRad: " + EEPROM.HRadius.ToString());
j = 0;
}
else
{
j++;
}
//UserInterface.logConsole("Offs :" + offsetX + " " + offsetY + " " + offsetZ);
//UserInterface.logConsole("VHeights :" + tempX2 + " " + tempXOpp2 + " " + tempY2 + " " + tempYOpp2 + " " + tempZ2 + " " + tempZOpp2);
}
else
{
j = 100;
UserInterface.logConsole("Tower Offsets and Delta Radii Calibrated");
}
}
if (EEPROM.offsetX > 1000 || EEPROM.offsetY > 1000 || EEPROM.offsetZ > 1000)
{
UserInterface.logConsole("Tower offset calibration error, setting default values.");
UserInterface.logConsole("Tower offsets before damage prevention: X" + offsetX + " Y" + offsetY + " Z" + offsetZ);
offsetX = 0;
offsetY = 0;
offsetZ = 0;
}
}
