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https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-02 02:42:36 +02:00
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bdring
@@ -89,11 +89,16 @@ void machine_init() {
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calc_forward_kinematics(angles, cartesian); // Sets the cartesian values
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// print a startup message to show the kinematics are enables
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grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delata Kinematics Init: %s Z Offset:%4.3f", MACHINE_NAME, cartesian[Z_AXIS]);
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grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delta Kinematics Init: %s Z Offset:%4.3f", MACHINE_NAME, cartesian[Z_AXIS]);
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}
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bool user_defined_homing() { // true = do not continue with normal Grbl homing
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#ifdef USE_CUSTOM_HOMING
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return true;
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#else
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//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "User defined homing");
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return false;
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#endif
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}
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void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position) //The target and position are provided in MPos
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@@ -290,6 +295,9 @@ void forward_kinematics(float* position) {
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memcpy(position_steps, sys_position, sizeof(sys_position));
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system_convert_array_steps_to_mpos(position_radians, position_steps);
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grbl_msg_sendf(
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CLIENT_SERIAL, MsgLevel::Info, "Fwd Kin Angs %1.3f, %1.3f, %1.3f ", position_radians[0], position_radians[1], position_radians[2]);
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// detmine the position of the end effector joint center.
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status = calc_forward_kinematics(position_radians, calc_fwd);
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@@ -303,10 +311,21 @@ void forward_kinematics(float* position) {
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}
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}
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bool kinematics_pre_homing(uint8_t cycle_mask) {
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bool kinematics_pre_homing(uint8_t cycle_mask) { // true = do not continue with normal Grbl homing
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#ifdef USE_CUSTOM_HOMING
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return true;
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#else
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//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "kinematics_pre_homing");
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return false;
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#endif
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}
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void kinematics_post_homing() {}
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void kinematics_post_homing() {
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#ifdef USE_CUSTOM_HOMING
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#else
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#endif
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}
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void user_m30() {}
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@@ -8,7 +8,7 @@
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// !!! For initial testing, start with test_drive.h which disables
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// all I/O pins
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// #include "Machines/atari_1020.h"
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# include "Machines/test_drive.h"
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# include "Machines/tapster_pro.h"
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// !!! For actual use, change the line above to select a board
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// from Machines/, for example:
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@@ -27,16 +27,17 @@
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#define USE_KINEMATICS // there are kinematic equations for this machine
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#define USE_FWD_KINEMATICS // report in cartesian
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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#define USE_CUSTOM_HOMING
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// ================== Delta Geometry ===========================
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#define RADIUS_FIXED 70.0; // radius of the fixed side (length of motor cranks)
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#define RADIUS_EFF 133.5; // radius of end effector side (length of linkages)
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#define LENGTH_FIXED_SIDE 179.437f; // sized of fixed side triangel
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#define LENGTH_EFF_SIDE 86.6025f; // size of end effector side triangle
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#define SEGMENT_LENGTH 0.5 // segment length in mm
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#define MAX_NEGATIVE_ANGLE -45 // in negative radians how far can the arms go up before damaging machine (max pi/2)
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#define RADIUS_FIXED 70.0; // radius of the fixed side (length of motor cranks)
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#define RADIUS_EFF 133.5; // radius of end effector side (length of linkages)
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#define LENGTH_FIXED_SIDE 173.205f; // sized of fixed side triangel
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#define LENGTH_EFF_SIDE 86.6025f; // size of end effector side triangle
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#define SEGMENT_LENGTH 0.5 // segment length in mm
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#define MAX_NEGATIVE_ANGLE -45 //
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// =================== Machine Hardware Definition =============
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@@ -98,8 +99,8 @@
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#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
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#define DEFAULT_X_MAX_TRAVEL 3.14159265 // 180° in radians
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#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
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#define DEFAULT_X_MAX_TRAVEL 3.14159265 // 180° in radians
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#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
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#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL //
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#define ARM_INTERNAL_ANGLE 2.866 // due to mounting angle
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@@ -108,4 +109,4 @@
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#define DEFAULT_Y_HOMING_MPOS DEFAULT_X_HOMING_MPOS
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#define DEFAULT_Z_HOMING_MPOS DEFAULT_X_HOMING_MPOS
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#define SPINDLE_TYPE SpindleType::NONE
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158
Grbl_Esp32/src/Machines/tapster_pro.h
Normal file
158
Grbl_Esp32/src/Machines/tapster_pro.h
Normal file
@@ -0,0 +1,158 @@
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#pragma once
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/*
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tapster_pro.h
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2020 - Bart Dring, Jason Huggins (Tapster Robotics)
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Grbl_ESP32 is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
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*/
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#define MACHINE_NAME "Tapster Pro Delta (Trinamic)"
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#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
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/*
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// enable these special machine functions to be called from the main program
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#define USE_KINEMATICS // there are kinematic equations for this machine
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#define FWD_KINEMATICS_REPORTING // report in cartesian
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#define USE_RMT_STEPS // Use the RMT periferal to generate step pulses
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#define USE_TRINAMIC // some Trinamic motors are used on this machine
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#define USE_MACHINE_TRINAMIC_INIT // there is a machine specific setup for the drivers
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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#define SEGMENT_LENGTH 0.5 // segment length in mm
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#define KIN_ANGLE_CALC_OK 0
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#define KIN_ANGLE_ERROR -1
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#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
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#define HOMING_CURRENT_REDUCTION 1.0
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*/
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#define USE_KINEMATICS // there are kinematic equations for this machine
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#define USE_FWD_KINEMATICS // report in cartesian
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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// ================== Delta Geometry ===========================
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#define RADIUS_FIXED 100.0f // radius of the fixed side (length of motor cranks)
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#define RADIUS_EFF 220.0f // radius of end effector side (length of linkages)
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#define LENGTH_FIXED_SIDE 294.449f // sized of fixed side triangel
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#define LENGTH_EFF_SIDE 86.6025f // size of end effector side triangle
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#define SEGMENT_LENGTH 0.5f // segment length in mm
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#define MAX_NEGATIVE_ANGLE -45.0f //
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// ================== Config ======================
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#ifdef HOMING_CYCLE_0
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# undef HOMING_CYCLE_0
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#endif
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#define HOMING_CYCLE_0 ((1 << X_AXIS) | (1 << Y_AXIS) | (1 << Z_AXIS))
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#ifdef HOMING_CYCLE_1
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# undef HOMING_CYCLE_1
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#endif
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#ifdef HOMING_CYCLE_2
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# undef HOMING_CYCLE_2
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#endif
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// ================== CPU MAP ======================
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#define TRINAMIC_DAISY_CHAIN
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#define TRINAMIC_RUN_MODE TrinamicMode ::StealthChop
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#define TRINAMIC_HOMING_MODE TrinamicMode ::StealthChop
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// Use SPI enable instead of the enable pin
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// The hardware enable pin is tied to ground
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#define USE_TRINAMIC_ENABLE
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#define X_TRINAMIC_DRIVER 2130 // Which Driver Type?
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#define X_RSENSE TMC2130_RSENSE_DEFAULT
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#define X_STEP_PIN GPIO_NUM_12
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#define X_DIRECTION_PIN GPIO_NUM_14
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#define X_CS_PIN GPIO_NUM_17 // Daisy Chain, all share same CS pin
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#define Y_TRINAMIC_DRIVER 2130 // Which Driver Type?
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#define Y_RSENSE TMC2130_RSENSE_DEFAULT
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#define Y_STEP_PIN GPIO_NUM_27
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#define Y_DIRECTION_PIN GPIO_NUM_26
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#define Y_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
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#define Z_TRINAMIC_DRIVER 2130 // Which Driver Type?
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#define Z_RSENSE TMC2130_RSENSE_DEFAULT
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#define Z_STEP_PIN GPIO_NUM_15
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#define Z_DIRECTION_PIN GPIO_NUM_2
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#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
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#define X_LIMIT_PIN GPIO_NUM_36
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#define Y_LIMIT_PIN GPIO_NUM_39
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#define Z_LIMIT_PIN GPIO_NUM_34
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// ================= defaults ===========================
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
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#define DEFAULT_X_MICROSTEPS 8
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#define DEFAULT_Y_MICROSTEPS DEFAULT_X_MICROSTEPS
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#define DEFAULT_Z_MICROSTEPS DEFAULT_X_MICROSTEPS
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// some math to figure out microsteps per unit // units could bedegrees or radians
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#define UNITS_PER_REV (2.0 * M_PI) // 360.0 degrees or 6.2831853 radians
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#define STEPS_PER_REV 400.0
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#define REDUCTION_RATIO (60.0 / 16.0) // the pulleys on arm and motor
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#define MICROSTEPS_PER_REV (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
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#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_PER_REV / UNITS_PER_REV)
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#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
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#define DEFAULT_Z_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
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#define DEFAULT_X_MAX_RATE 400.0 // mm/min
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#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
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#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE
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#define DEFAULT_X_ACCELERATION 90.0
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#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
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#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
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// homing
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#define DEFAULT_HOMING_FEED_RATE 25
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#define DEFAULT_HOMING_SEEK_RATE 50
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#define DEFAULT_HOMING_DIR_MASK 7
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#define DEFAULT_HOMING_ENABLE 1
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#define DEFAULT_INVERT_LIMIT_PINS 0
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// homing
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#define DEFAULT_USER_INT_80 800 // $80 User integer setting
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#define DEFAULT_USER_INT_81 350 // $80 User integer setting
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#define DEFAULT_X_MAX_TRAVEL 1.75 // 100 dgrees in radians
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#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
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#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
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#define DEFAULT_X_HOMING_MPOS 0.75
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#define DEFAULT_Y_HOMING_MPOS 0.75
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#define DEFAULT_Z_HOMING_MPOS 0.75
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#define DEFAULT_X_CURRENT 1.0
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#define DEFAULT_Y_CURRENT DEFAULT_X_CURRENT
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#define DEFAULT_Z_CURRENT DEFAULT_X_CURRENT
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#define DEFAULT_X_HOLD_CURRENT 0.25
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#define DEFAULT_Y_HOLD_CURRENT DEFAULT_X_HOLD_CURRENT
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#define DEFAULT_Z_HOLD_CURRENT DEFAULT_X_HOLD_CURRENT
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#define SPINDLE_TYPE SpindleType::NONE
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