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removed test kinematic

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Bart Dring
2019-08-28 14:54:09 -05:00
parent 3c0c5adbf6
commit 06505fed7c
1 changed files with 9 additions and 30 deletions
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39
Grbl_Esp32/kinematics.cpp
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@@ -64,49 +64,28 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
float new_system[N_AXIS]; // target location in the new system
uint8_t index;
// skip kinematics... not implemented yet.
mc_line(target, pl_data);
return;
// All data is in machine space and axes have different offsets, so we need to apply the offset in corrections
for (index = 0; index < N_AXIS; index++) {
offsets[index] = gc_state.coord_system[index] + gc_state.coord_offset[index]; // offset from machine coordinate system
grbl_sendf(CLIENT_SERIAL, "[MSG: Kins Offset %d %4.3f, Target %4.3f]\r\n", index, offsets[index], target[index] - offsets[index]);
offsets[index] = gc_state.coord_system[index] + gc_state.coord_offset[index]; // offset from machine coordinate system
}
switch (gc_state.tool) {
case 1: // XYZ only ignore all ABC
grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 1]\r\n");
new_system[X_AXIS] = target[X_AXIS];
new_system[Y_AXIS] = target[Y_AXIS];
new_system[Z_AXIS] = target[Z_AXIS];
// remove ABC changes by setting to existing values
new_system[A_AXIS] = position[A_AXIS];
new_system[B_AXIS] = position[B_AXIS];
new_system[C_AXIS] = position[C_AXIS];
mc_line(new_system, pl_data);
break;
case 2: // Convert XYZ to ABC (no motion on ABC)
// Remove XYZ by setting to existing values
grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 2]\r\n");
new_system[X_AXIS] = position[X_AXIS];
new_system[Y_AXIS] = position[Y_AXIS];
new_system[Z_AXIS] = position[Z_AXIS];
// Use XYZ values for ABC
new_system[A_AXIS] = (target[X_AXIS] - offsets[X_AXIS]) + offsets[A_AXIS]; // they have different offsets, so we need to correct for that
new_system[B_AXIS] = (target[Y_AXIS] - offsets[Y_AXIS]) + offsets[B_AXIS];
new_system[C_AXIS] = (target[Z_AXIS] - offsets[Z_AXIS]) + offsets[C_AXIS];
grbl_sendf(CLIENT_SERIAL, "[MSG:Target XYZ %4.3f, %4.3f, %4.3f]\r\n", target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);
grbl_sendf(CLIENT_SERIAL, "[MSG:Offset XYZ %4.3f, %4.3f, %4.3f]\r\n", offsets[X_AXIS], offsets[Y_AXIS], offsets[Z_AXIS]);
grbl_sendf(CLIENT_SERIAL, "[MSG:Offset ABC %4.3f, %4.3f, %4.3f]\r\n", offsets[A_AXIS], offsets[B_AXIS], offsets[C_AXIS]);
grbl_sendf(CLIENT_SERIAL, "[MSG: New %4.3f, %4.3f, %4.3f]\r\n", new_system[A_AXIS], new_system[B_AXIS], new_system[C_AXIS]);
mc_line(new_system, pl_data);
break;
default: // tool 0 or above 2 uses normal 6 axis code...no changes
grbl_sendf(CLIENT_SERIAL, "[MSG:Kin normal]\r\n");
mc_line(target, pl_data);
grbl_sendf(CLIENT_SERIAL, "[MSG: T0 %4.3f, %4.3f, %4.3f]\r\n", target[A_AXIS], target[B_AXIS], target[C_AXIS]);
break;
}
}
#endif