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jtimonjtimon
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HangprinterKinematics::WriteCalibrationParameters: flat return style
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.
1 parent 7b65487 commit ccf9d37

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2 files changed

+72
-61
lines changed

2 files changed

+72
-61
lines changed

‎src/Movement/Kinematics/HangprinterKinematics.cpp‎

Lines changed: 71 additions & 61 deletions
Original file line numberDiff line numberDiff line change
@@ -532,69 +532,79 @@ AxesBitmap HangprinterKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool di
532532
// Write the parameters to a file, returning true if success
533533
bool HangprinterKinematics::WriteCalibrationParameters(FileStore *f) const noexcept
534534
{
535-
bool ok = f->Write("; Hangprinter parameters\n");
536-
if (ok)
535+
bool ok = false;
536+
String<255> scratchString;
537+
538+
scratchString.printf("; Hangprinter parameters\n");
539+
scratchString.printf("M669 K6 ");
540+
ok = f->Write(scratchString.c_str());
541+
if (!ok) return false;
542+
543+
for (size_t i = 0; i < HANGPRINTER_AXES; ++i)
537544
{
538-
String<100> scratchString;
539-
scratchString.printf("M669 K6 A%.3f:%.3f:%.3f B%.3f:%.3f:%.3f",
540-
(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
541-
(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS]);
542-
ok = f->Write(scratchString.c_str());
543-
if (ok)
544-
{
545-
scratchString.printf(" C%.3f:%.3f:%.3f D%.3f:%.3f:%.3f P%.1f\n",
546-
(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS],
547-
(double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS],
548-
(double)printRadius);
549-
ok = f->Write(scratchString.c_str());
550-
if (ok)
551-
{
552-
scratchString.printf("M666 Q%.6f R%.3f:%.3f:%.3f:%.3f U%d:%d:%d:%d",
553-
(double)spoolBuildupFactor, (double)spoolRadii[A_AXIS],
554-
(double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS],
555-
(int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS],
556-
(int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS]
557-
);
558-
ok = f->Write(scratchString.c_str());
559-
if (ok)
560-
{
561-
scratchString.printf(" O%d:%d:%d:%d L%d:%d:%d:%d H%d:%d:%d:%d J%d:%d:%d:%d",
562-
(int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS],
563-
(int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS],
564-
(int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS],
565-
(int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS],
566-
(int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS],
567-
(int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS],
568-
(int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS],
569-
(int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]
570-
);
571-
ok = f->Write(scratchString.c_str());
572-
if (ok)
573-
{
574-
scratchString.printf(" W%.2f S%.2f I%.1f:%.1f:%.1f:%.1f X%.1f:%.1f:%.1f:%.1f",
575-
(double)moverWeight_kg, (double)springKPerUnitLength,
576-
(double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS],
577-
(double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS],
578-
(double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS],
579-
(double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS]
580-
);
581-
ok = f->Write(scratchString.c_str());
582-
if (ok)
583-
{
584-
scratchString.printf(" Y%.1f:%.1f:%.1f:%.1f T%.1f C%.4f:%.4f:%.4f:%.4f\n",
585-
(double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS],
586-
(double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS],
587-
(double)targetForce_Newton,
588-
(double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS],
589-
(double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS]
590-
);
591-
ok = f->Write(scratchString.c_str());
592-
}
593-
}
594-
}
595-
}
596-
}
545+
scratchString.catf("%c%.3f:%.3f:%.3f ", ANCHOR_CHARS[i], (double)anchors[i][X_AXIS], (double)anchors[i][Y_AXIS], (double)anchors[i][Z_AXIS]);
597546
}
547+
ok = f->Write(scratchString.c_str());
548+
if (!ok) return false;
549+
550+
scratchString.printf(" P%.1f", (double)printRadius);
551+
ok = f->Write(scratchString.c_str());
552+
if (!ok) return false;
553+
554+
scratchString.printf("M666 Q%.6f ", (double)spoolBuildupFactor);
555+
ok = f->Write(scratchString.c_str());
556+
if (!ok) return false;
557+
558+
scratchString.printf("R%.3f:%.3f:%.3f:%.3f", (double)spoolRadii[A_AXIS], (double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS]);
559+
ok = f->Write(scratchString.c_str());
560+
if (!ok) return false;
561+
562+
scratchString.printf("U%d:%d:%d:%d", (int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS], (int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS]);
563+
ok = f->Write(scratchString.c_str());
564+
if (!ok) return false;
565+
566+
scratchString.printf(" O%d:%d:%d:%d", (int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS], (int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS]);
567+
ok = f->Write(scratchString.c_str());
568+
if (!ok) return false;
569+
570+
scratchString.printf(" L%d:%d:%d:%d", (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS]);
571+
ok = f->Write(scratchString.c_str());
572+
if (!ok) return false;
573+
574+
scratchString.printf(" H%d:%d:%d:%d", (int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS]);
575+
ok = f->Write(scratchString.c_str());
576+
if (!ok) return false;
577+
578+
scratchString.printf(" J%d:%d:%d:%d", (int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS], (int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]);
579+
ok = f->Write(scratchString.c_str());
580+
if (!ok) return false;
581+
582+
scratchString.printf(" W%.2f S%.2f", (double)moverWeight_kg, (double)springKPerUnitLength);
583+
ok = f->Write(scratchString.c_str());
584+
if (!ok) return false;
585+
586+
scratchString.printf(" I%.1f:%.1f:%.1f:%.1f",
587+
(double)minPlannedForce_Newton[A_AXIS], (double)minPlannedForce_Newton[B_AXIS], (double)minPlannedForce_Newton[C_AXIS], (double)minPlannedForce_Newton[D_AXIS]);
588+
ok = f->Write(scratchString.c_str());
589+
if (!ok) return false;
590+
591+
scratchString.printf(" X%.1f:%.1f:%.1f:%.1f",
592+
(double)maxPlannedForce_Newton[A_AXIS], (double)maxPlannedForce_Newton[B_AXIS], (double)maxPlannedForce_Newton[C_AXIS], (double)maxPlannedForce_Newton[D_AXIS]);
593+
ok = f->Write(scratchString.c_str());
594+
if (!ok) return false;
595+
596+
scratchString.printf(" Y%.1f:%.1f:%.1f:%.1f",
597+
(double)guyWireLengths[A_AXIS], (double)guyWireLengths[B_AXIS], (double)guyWireLengths[C_AXIS], (double)guyWireLengths[D_AXIS]);
598+
ok = f->Write(scratchString.c_str());
599+
if (!ok) return false;
600+
601+
scratchString.printf(" T%.1f", (double)targetForce_Newton);
602+
ok = f->Write(scratchString.c_str());
603+
if (!ok) return false;
604+
605+
scratchString.printf(" C%.4f:%.4f:%.4f:%.4f\n", (double)torqueConstants[A_AXIS], (double)torqueConstants[B_AXIS], (double)torqueConstants[C_AXIS], (double)torqueConstants[D_AXIS]);
606+
ok = f->Write(scratchString.c_str());
607+
598608
return ok;
599609
}
600610

‎src/Movement/Kinematics/HangprinterKinematics.h‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -57,6 +57,7 @@ class HangprinterKinematics : public RoundBedKinematics
5757

5858
private:
5959
// Basic facts about movement system
60+
const char* ANCHOR_CHARS = "ABCD";
6061
static constexpr size_t HANGPRINTER_AXES = 4;
6162
static constexpr size_t A_AXIS = 0;
6263
static constexpr size_t B_AXIS = 1;

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