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@@ -41,7 +41,7 @@
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#define MIN_SPEED (0.01f / (MAX_DELAY * 0.000001f))
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/// 200 = 50 mm/s
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#define Z_MIN_DELAY 200
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-#define Z_ACCEL 300
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+#define Z_ACCEL 5000
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#define XY_ACCEL 1000
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#define _PI 3.14159265F
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@@ -536,17 +536,22 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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const int16_t half_x = length_x / 2;
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int16_t x = 0;
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/// don't go up if PINDA not triggered
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- int8_t axis = _PINDA ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
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+ const bool up = _PINDA;
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+ int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
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sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up
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- for (x = 0; x <= half_x; ++x, ++z){
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+ for (x = 0; x <= half_x; ++x){
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accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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+ if (up)
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+ ++z;
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}
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/// slow down
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steps_to_go = length_x - x;
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- for (; x < length_x; ++x, ++z){
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+ for (; x < length_x; ++x){
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go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
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+ if (up)
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+ ++z;
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}
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count_position[0] = end_x;
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count_position[2] = z;
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@@ -600,7 +605,7 @@ uint8_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, u
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}
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// DBG(_n("\n"));
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}
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- DBG(_n("max_c=%f max_r=%f max_match=%d pixel\n"), max_c, max_r, max_match);
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+ DBG(_n("max_c=%d max_r=%d max_match=%d pixel\n"), max_c, max_r, max_match);
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*pc = max_c;
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*pr = max_r;
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espr14