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HangprinterKinematics::WriteCalibrationParameters: flat return style
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Otherwise it gets too deep.
I think there's an option in eclipse to forbid this by project in
format, one can config depness iirc.
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@jtimon
jtimon committed Feb 25, 2023
1 parent 7b65487 commit 6e47080
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Showing 2 changed files with 72 additions and 61 deletions.
132 changes: 71 additions & 61 deletions src/Movement/Kinematics/HangprinterKinematics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -532,69 +532,79 @@ AxesBitmap HangprinterKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di
// Write the parameters to a file, returning true if success
bool HangprinterKinematics::WriteCalibrationParameters(FileStore *f) const noexcept
{
bool ok = f->Write("; Hangprinter parameters\n");
if (ok)
bool ok = false;
String<255> scratchString;

scratchString.printf("; Hangprinter parameters\n");
scratchString.printf("M669 K6 ");
ok = f->Write(scratchString.c_str());
if (!ok) return false;

for (size_t i = 0; i < HANGPRINTER_AXES; ++i)
{
String<100> scratchString;
scratchString.printf("M669 K6 A%.3f:%.3f:%.3f B%.3f:%.3f:%.3f",
(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS]);
ok = f->Write(scratchString.c_str());
if (ok)
{
scratchString.printf(" C%.3f:%.3f:%.3f D%.3f:%.3f:%.3f P%.1f\n",
(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS],
(double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS],
(double)printRadius);
ok = f->Write(scratchString.c_str());
if (ok)
{
scratchString.printf("M666 Q%.6f R%.3f:%.3f:%.3f:%.3f U%d:%d:%d:%d",
(double)spoolBuildupFactor, (double)spoolRadii[A_AXIS],
(double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS],
(int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS],
(int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS]
);
ok = f->Write(scratchString.c_str());
if (ok)
{
scratchString.printf(" O%d:%d:%d:%d L%d:%d:%d:%d H%d:%d:%d:%d J%d:%d:%d:%d",
(int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS],
(int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS],
(int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS],
(int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS],
(int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS],
(int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS],
(int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS],
(int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]
);
ok = f->Write(scratchString.c_str());
if (ok)
{
scratchString.printf(" W%.2f S%.2f I%.1f:%.1f:%.1f:%.1f X%.1f:%.1f:%.1f:%.1f",
(double)moverWeight_kg, (double)springKPerUnitLength,
(double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS],
(double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS],
(double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS],
(double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS]
);
ok = f->Write(scratchString.c_str());
if (ok)
{
scratchString.printf(" Y%.1f:%.1f:%.1f:%.1f T%.1f C%.4f:%.4f:%.4f:%.4f\n",
(double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS],
(double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS],
(double)targetForce_Newton,
(double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS],
(double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS]
);
ok = f->Write(scratchString.c_str());
}
}
}
}
}
scratchString.catf("%c%.3f:%.3f:%.3f ", ANCHOR_CHARS[i], (double)anchors[i][X_AXIS], (double)anchors[i][Y_AXIS], (double)anchors[i][Z_AXIS]);
}
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" P%.1f", (double)printRadius);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf("M666 Q%.6f ", (double)spoolBuildupFactor);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf("R%.3f:%.3f:%.3f:%.3f", (double)spoolRadii[A_AXIS], (double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf("U%d:%d:%d:%d", (int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS], (int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" O%d:%d:%d:%d", (int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS], (int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" L%d:%d:%d:%d", (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" H%d:%d:%d:%d", (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" J%d:%d:%d:%d", (int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS], (int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" W%.2f S%.2f", (double)moverWeight_kg, (double)springKPerUnitLength);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" I%.1f:%.1f:%.1f:%.1f",
(double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS], (double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" X%.1f:%.1f:%.1f:%.1f",
(double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS], (double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" Y%.1f:%.1f:%.1f:%.1f",
(double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS], (double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS]);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" T%.1f", (double)targetForce_Newton);
ok = f->Write(scratchString.c_str());
if (!ok) return false;

scratchString.printf(" C%.4f:%.4f:%.4f:%.4f\n", (double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS], (double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS]);
ok = f->Write(scratchString.c_str());

return ok;
}

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1 change: 1 addition & 0 deletions src/Movement/Kinematics/HangprinterKinematics.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ class HangprinterKinematics : public RoundBedKinematics

private:
// Basic facts about movement system
const char* ANCHOR_CHARS = "ABCD";
static constexpr size_t HANGPRINTER_AXES = 4;
static constexpr size_t A_AXIS = 0;
static constexpr size_t B_AXIS = 1;
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