Liquid droplet discharge apparatus, liquid droplet discharge method, and medium storing liquid droplet discharge program

A liquid droplet discharge method comprising:

• acquiring information about a surface of a printing medium;
• calculating a volume of a recess on the printing medium based on the information about the surface of the printing medium;
• generating a driving waveform for filling up the recess in accordance with the volume of the recess;
• applying pressure to liquid contained in a pressure chamber communicated with a nozzle of a discharge head, by driving an actuator in accordance with the driving waveform such that liquid droplets are discharged from the nozzle to the recess;
• and
• printing at least part of an image on the printing medium with the discharge head.

A non-transitory medium storing a liquid droplet discharge program to be executed by a controller of a liquid droplet discharge apparatus, the liquid droplet discharge apparatus comprising a discharge head having a nozzle and an actuator, the nozzle being configured to discharge liquid droplets onto a printing medium, the actuator being configured to apply pressure to liquid contained in a pressure chamber communicated with the nozzle, a waveform generating circuit configured to generate driving waveforms of signals for driving the actuator, a surface information acquiring device configured to acquire information about a surface of the printing medium, and the controller, wherein the liquid droplet discharge program causes the controller to execute:

• a calculating process for calculating a volume of a recess on the printing medium based on the information acquired by the surface information acquiring device;
• a restoration waveform generation instructing process for causing the waveform generating circuit to generate a driving waveform for filling up the recess in accordance with the volume of the recess;
• a recess restoration instructing process for driving the actuator in accordance with the driving waveform generated by the waveform generating circuit such that the liquid droplets are discharged from the nozzle to the recess;
• and
• a printing process for printing at least part of an image on the printing medium with the discharge head.