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bdring
2020-10-05 18:38:22 -05:00
parent 0306ec4709
commit 0a9c54c196
3 changed files with 44 additions and 26 deletions
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14
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -102,9 +102,18 @@ void machine_init() {
// Calculate the Z offset at the arm zero angles ...
// Z offset is the z distance from the motor axes to the end effector axes at zero angle
calc_forward_kinematics(angles, cartesian); // Sets the cartesian values
// print a startup message to show the kinematics are enabled. Print the offset for reference
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delta Kinematics Init: %s Z Offset:%4.3f", MACHINE_NAME, cartesian[Z_AXIS]);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delta Angle Range %3.3f, %3.3f", MAX_NEGATIVE_ANGLE, MAX_POSITIVE_ANGLE);
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"DXL_COUNT_MIN %4.0f CENTER %d MAX %4.0f PER_RAD %d",
DXL_COUNT_MIN,
DXL_CENTER,
DXL_COUNT_MAX,
DXL_COUNT_PER_RADIAN);
}
bool user_defined_homing() { // true = do not continue with normal Grbl homing
@@ -132,7 +141,6 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
float seg_target[3]; // The target of the current segment
float feed_rate = pl_data->feed_rate; // save original feed rate
bool start_position_error = false;
bool show_error = true; // shows error once
KinematicError status;
@@ -143,7 +151,7 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
status = delta_calcInverse(position, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start position error %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
start_position_error = true;
//start_position_error = true;
}
// Check the destination to see if it is in work area

2
Grbl_Esp32/src/Machine.h
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@@ -8,7 +8,7 @@
// !!! For initial testing, start with test_drive.h which disables
// all I/O pins
// #include "Machines/atari_1020.h"
# include "Machines/tapster_pro_6P_trinamic.h"
# include "Machines/tapster3.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

54
Grbl_Esp32/src/Machines/tapster3.h
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@@ -26,18 +26,24 @@
// ================= Firmware Customization ===================
#define USE_KINEMATICS // there are kinematic equations for this machine
#define USE_FWD_KINEMATICS // report in cartesian
#define USE_MACHINE_INIT // There is some custom initialization for this machine
#define USE_CUSTOM_HOMING
#define USE_FWD_KINEMATICS // report in cartesian
#define USE_MACHINE_INIT // There is some custom initialization for this machine
// ================== Delta Geometry ===========================
#define RADIUS_FIXED 70.0; // radius of the fixed side (length of motor cranks)
#define RADIUS_EFF 133.5; // radius of end effector side (length of linkages)
#define LENGTH_FIXED_SIDE 173.205f; // sized of fixed side triangel
#define LENGTH_EFF_SIDE 86.6025f; // size of end effector side triangle
#define SEGMENT_LENGTH 0.5 // segment length in mm
#define MAX_NEGATIVE_ANGLE -45 //
#define RADIUS_FIXED 70.0; // radius of the fixed side (length of motor cranks)
#define RADIUS_EFF 133.5; // radius of end effector side (length of linkages)
#define LENGTH_FIXED_SIDE 179.437f; // sized of fixed side triangel
#define LENGTH_EFF_SIDE 86.6025f; // size of end effector side triangle
#define KINEMATIC_SEGMENT_LENGTH 1.0f // segment length in mm
#define MAX_NEGATIVE_ANGLE -(M_PI / 3.0) // 60 degrees up
#define MAX_POSITIVE_ANGLE (M_PI / 2.0) // 90 degrees down
#define ARM_INTERNAL_ANGLE 0.05 // radians 2.866° // due to mounting angle
#define DEFAULT_X_MAX_TRAVEL MAX_POSITIVE_ANGLE - MAX_NEGATIVE_ANGLE
#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
// =================== Machine Hardware Definition =============
@@ -49,9 +55,17 @@
#define Y_DYNAMIXEL_ID 2 // protocol ID
#define Z_DYNAMIXEL_ID 3 // protocol ID
// limit servo to 180 degree motion
#define DXL_COUNT_MIN 1024
#define DXL_COUNT_MAX 3072
// limit servo to motion range
#define DXL_COUNTS 4096
#define DXL_COUNT_PER_RADIAN 652 // (DXL_COUNTS / 2.0 * M_PI)
#define DXL_CENTER 2015 // (DXL_COUNTS / 2) - (ARM_INTERNAL_ANGLE * DXL_COUNT_PER_RADIAN)
#undef DXL_COUNT_MIN
#define DXL_COUNT_MIN (DXL_CENTER + (MAX_NEGATIVE_ANGLE * DXL_COUNT_PER_RADIAN))
#undef DXL_COUNT_MAX
#define DXL_COUNT_MAX (DXL_CENTER + (MAX_POSITIVE_ANGLE * DXL_COUNT_PER_RADIAN))
#define SERVO_TIMER_INTERVAL 50
@@ -85,6 +99,11 @@
#define DEFAULT_HOMING_ENABLE 0
#define DEFAULT_HOMING_DIR_MASK 0
#define DEFAULT_HOMING_CYCLE_0 (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS))
#define DEFAULT_X_HOMING_MPOS MAX_NEGATIVE_ANGLE
#define DEFAULT_Y_HOMING_MPOS DEFAULT_X_HOMING_MPOS
#define DEFAULT_Z_HOMING_MPOS DEFAULT_X_HOMING_MPOS
// the following must have the same values for each axis
#define DEFAULT_X_STEPS_PER_MM 800 // value is actually arbitrary, but keep it smallish
@@ -99,14 +118,5 @@
#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_X_MAX_TRAVEL 3.14159265 // 180° in radians
#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
#define ARM_INTERNAL_ANGLE 2.866 // due to mounting angle
#define DEFAULT_X_HOMING_MPOS (DEFAULT_X_MAX_TRAVEL / 2.0)
#define DEFAULT_Y_HOMING_MPOS DEFAULT_X_HOMING_MPOS
#define DEFAULT_Z_HOMING_MPOS DEFAULT_X_HOMING_MPOS
#define SPINDLE_TYPE SpindleType::NONE