From 1831dfe0ab861242021eddb465c37ccbe47a41c0 Mon Sep 17 00:00:00 2001
From: Julien Oculi <xdrz.jot.sr@gmail.com>
Date: Thu, 5 Jun 2025 15:57:10 +0200
Subject: [PATCH] feat: remove old roll correction

---
 maths.cpp | 23 ++++-------------------
 1 file changed, 4 insertions(+), 19 deletions(-)

diff --git a/maths.cpp b/maths.cpp
index 8cef301..23ad236 100644
--- a/maths.cpp
+++ b/maths.cpp
@@ -1,8 +1,5 @@
 #include "math.h"
 
-// rollH atan((22.5 - 18.5) / 236) ~0.97°
-// rollV ~1°
-
 double degToRad(double deg) { return deg * M_PI / 180.0; }
 
 double radToDeg(double rad) { return rad * 180.0 / M_PI; }
@@ -16,11 +13,6 @@ void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
   stepY = angleY / stepRatioY;
 }
 
-double rollCorrection(double x, double max, double width) {
-  double correction = max * (1.0 - cos((10.0 * x) / (width * M_PI))) / 2.0;
-  return x - correction;
-}
-
 void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
                       double x, double y, double z) {
   // TODO remove magic numbers
@@ -30,19 +22,12 @@ void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY,
 
   x = -x; // natural axis direction
   double dX = x + offsetX;
-  double dY = rollCorrection(y + offsetY, 0.2, 400.0);
+  double dY = y + offsetY;
   double dZ = z + distance;
 
-  double roll = atan2(4.0, 236.0);
-  double rollY = dX * tan(roll);
-  double rollX = dY * tan(roll);
-
-  double dXr = dX + rollX;
-  double dYr = dY + rollY;
-
-  double rho = sqrt(pow(dXr, 2.0) + pow(dYr, 2.0) + pow(dZ, 2.0));
-  double angleY = M_PI / 2.0 - acos(dYr / rho);
-  double angleX = atan2(dXr, dZ);
+  double rho = sqrt(pow(dX, 2.0) + pow(dY, 2.0) + pow(dZ, 2.0));
+  double angleY = M_PI / 2.0 - acos(dY / rho);
+  double angleX = atan2(dX, dZ);
 
   angleToStep(stepX, stepY, angleX, angleY);
 }