On the problem of printer kinematics: My 3D printer is a nonlinear Z-axis, that is, the number of rotation turns of the motor is not in direct proportion to the lifting distance of the Z-axis. They are similar to the trigonometric function Pythagorean theorem. What I want to know is that I want to modify this part of code in the location of the Marlin firmware to adjust the kinematics relationship of the Z axis.

This is a new 3D printer I want to make

Search the code for forward_kinematics