Created branch

Grbl_Esp32/Custom/parallel_delta.cpp

@@ -89,11 +89,16 @@ void machine_init() {
     calc_forward_kinematics(angles, cartesian);  // Sets the cartesian values
 
     // print a startup message to show the kinematics are enables
-    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delata Kinematics Init: %s Z Offset:%4.3f", MACHINE_NAME, cartesian[Z_AXIS]);
+    grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delta Kinematics Init: %s Z Offset:%4.3f", MACHINE_NAME, cartesian[Z_AXIS]);
 }
 
 bool user_defined_homing() {  // true = do not continue with normal Grbl homing
+#ifdef USE_CUSTOM_HOMING
     return true;
+#else
+    //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "User defined homing");
+    return false;
+#endif
 }
 
 void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position)  //The target and position are provided in MPos
@@ -290,6 +295,9 @@ void forward_kinematics(float* position) {
     memcpy(position_steps, sys_position, sizeof(sys_position));
     system_convert_array_steps_to_mpos(position_radians, position_steps);
 
+    grbl_msg_sendf(
+        CLIENT_SERIAL, MsgLevel::Info, "Fwd Kin Angs %1.3f, %1.3f, %1.3f ", position_radians[0], position_radians[1], position_radians[2]);
+
     // detmine the position of the end effector joint center.
     status = calc_forward_kinematics(position_radians, calc_fwd);
 
@@ -303,10 +311,21 @@ void forward_kinematics(float* position) {
     }
 }
 
-bool kinematics_pre_homing(uint8_t cycle_mask) {
+bool kinematics_pre_homing(uint8_t cycle_mask) {  // true = do not continue with normal Grbl homing
+#ifdef USE_CUSTOM_HOMING
     return true;
+#else
+    //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "kinematics_pre_homing");
+    return false;
+#endif
 }
 
-void kinematics_post_homing() {}
+void kinematics_post_homing() {
+#ifdef USE_CUSTOM_HOMING
+
+#else
+
+#endif
+}
 
 void user_m30() {}

Grbl_Esp32/src/Machine.h

@@ -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/test_drive.h"
+#    include "Machines/tapster_pro.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:

Grbl_Esp32/src/Machines/tapster3.h

@@ -28,15 +28,16 @@
 #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
 	
 // ================== Delta Geometry ===========================
 
-#define RADIUS_FIXED    70.0;   // radius of the fixed side (length of motor cranks)
+#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 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_FIXED_SIDE       173.205f;   // sized of fixed side triangel
-#define LENGTH_EFF_SIDE     86.6025f;  // size of end effector side triangle
+#define LENGTH_EFF_SIDE         86.6025f;   // size of end effector side triangle
-#define SEGMENT_LENGTH 0.5 // segment length in mm
+#define SEGMENT_LENGTH          0.5         // segment length in mm
-#define MAX_NEGATIVE_ANGLE -45 // in negative radians how far can the arms go up before damaging machine (max pi/2) 
+#define MAX_NEGATIVE_ANGLE      -45         // 
 
 // =================== Machine Hardware Definition =============
 
@@ -108,4 +109,4 @@
 #define DEFAULT_Y_HOMING_MPOS DEFAULT_X_HOMING_MPOS
 #define DEFAULT_Z_HOMING_MPOS DEFAULT_X_HOMING_MPOS
 
-#define SPINDLE_TYPE    SpindleType::NONE
+

Grbl_Esp32/src/Machines/tapster_pro.h

@@ -0,0 +1,158 @@
+#pragma once
+
+/*
+    tapster_pro.h
+
+    2020    - Bart Dring, Jason Huggins (Tapster Robotics)
+
+    Grbl_ESP32 is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+    Grbl is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+    You should have received a copy of the GNU General Public License
+    along with Grbl_ESP32.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#define MACHINE_NAME "Tapster Pro Delta (Trinamic)"
+
+#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
+/*
+// enable these special machine functions to be called from the main program
+#define USE_KINEMATICS             // there are kinematic equations for this machine
+#define FWD_KINEMATICS_REPORTING   // report in cartesian
+#define USE_RMT_STEPS              // Use the RMT periferal to generate step pulses
+#define USE_TRINAMIC               // some Trinamic motors are used on this machine
+#define USE_MACHINE_TRINAMIC_INIT  // there is a machine specific setup for the drivers
+#define USE_MACHINE_INIT           // There is some custom initialization for this machine
+
+#define SEGMENT_LENGTH 0.5  // segment length in mm
+#define KIN_ANGLE_CALC_OK 0
+#define KIN_ANGLE_ERROR -1
+
+#define MAX_NEGATIVE_ANGLE -36  // in degrees how far can the arms go up?
+
+#define HOMING_CURRENT_REDUCTION 1.0
+
+
+*/
+
+#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
+
+// ================== Delta Geometry ===========================
+
+#define RADIUS_FIXED 100.0f         // radius of the fixed side (length of motor cranks)
+#define RADIUS_EFF 220.0f           // radius of end effector side (length of linkages)
+#define LENGTH_FIXED_SIDE 294.449f  // sized of fixed side triangel
+#define LENGTH_EFF_SIDE 86.6025f    // size of end effector side triangle
+#define SEGMENT_LENGTH 0.5f         // segment length in mm
+#define MAX_NEGATIVE_ANGLE -45.0f   //
+
+// ================== Config ======================
+
+#ifdef HOMING_CYCLE_0
+#    undef HOMING_CYCLE_0
+#endif
+#define HOMING_CYCLE_0 ((1 << X_AXIS) | (1 << Y_AXIS) | (1 << Z_AXIS))
+
+#ifdef HOMING_CYCLE_1
+#    undef HOMING_CYCLE_1
+#endif
+
+#ifdef HOMING_CYCLE_2
+#    undef HOMING_CYCLE_2
+#endif
+
+// ================== CPU MAP ======================
+
+#define TRINAMIC_DAISY_CHAIN
+
+#define TRINAMIC_RUN_MODE TrinamicMode ::StealthChop
+#define TRINAMIC_HOMING_MODE TrinamicMode ::StealthChop
+
+// Use SPI enable instead of the enable pin
+// The hardware enable pin is tied to ground
+#define USE_TRINAMIC_ENABLE
+
+#define X_TRINAMIC_DRIVER 2130  // Which Driver Type?
+#define X_RSENSE TMC2130_RSENSE_DEFAULT
+#define X_STEP_PIN GPIO_NUM_12
+#define X_DIRECTION_PIN GPIO_NUM_14
+#define X_CS_PIN GPIO_NUM_17  // Daisy Chain, all share same CS pin
+
+#define Y_TRINAMIC_DRIVER 2130  // Which Driver Type?
+#define Y_RSENSE TMC2130_RSENSE_DEFAULT
+#define Y_STEP_PIN GPIO_NUM_27
+#define Y_DIRECTION_PIN GPIO_NUM_26
+#define Y_CS_PIN X_CS_PIN  // Daisy Chain, all share same CS pin
+
+#define Z_TRINAMIC_DRIVER 2130  // Which Driver Type?
+#define Z_RSENSE TMC2130_RSENSE_DEFAULT
+#define Z_STEP_PIN GPIO_NUM_15
+#define Z_DIRECTION_PIN GPIO_NUM_2
+#define Z_CS_PIN X_CS_PIN  // Daisy Chain, all share same CS pin
+
+#define X_LIMIT_PIN GPIO_NUM_36
+#define Y_LIMIT_PIN GPIO_NUM_39
+#define Z_LIMIT_PIN GPIO_NUM_34
+
+// ================= defaults ===========================
+
+#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255  // keep them on, the trinamics will reduce power at idle
+
+#define DEFAULT_X_MICROSTEPS 8
+#define DEFAULT_Y_MICROSTEPS DEFAULT_X_MICROSTEPS
+#define DEFAULT_Z_MICROSTEPS DEFAULT_X_MICROSTEPS
+
+// some math to figure out microsteps per unit // units could bedegrees or radians
+#define UNITS_PER_REV (2.0 * M_PI)  // 360.0 degrees or 6.2831853 radians
+#define STEPS_PER_REV 400.0
+#define REDUCTION_RATIO (60.0 / 16.0)  // the pulleys on arm and motor
+#define MICROSTEPS_PER_REV (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
+
+#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_PER_REV / UNITS_PER_REV)
+#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
+#define DEFAULT_Z_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
+
+#define DEFAULT_X_MAX_RATE 400.0  // mm/min
+#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
+#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE
+
+#define DEFAULT_X_ACCELERATION 90.0
+#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
+#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
+
+//  homing
+#define DEFAULT_HOMING_FEED_RATE 25
+#define DEFAULT_HOMING_SEEK_RATE 50
+#define DEFAULT_HOMING_DIR_MASK 7
+#define DEFAULT_HOMING_ENABLE 1
+#define DEFAULT_INVERT_LIMIT_PINS 0
+
+// homing
+
+#define DEFAULT_USER_INT_80 800  // $80 User integer setting
+#define DEFAULT_USER_INT_81 350  // $80 User integer setting
+
+#define DEFAULT_X_MAX_TRAVEL 1.75  // 100 dgrees in radians
+#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
+#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
+
+#define DEFAULT_X_HOMING_MPOS 0.75
+#define DEFAULT_Y_HOMING_MPOS 0.75
+#define DEFAULT_Z_HOMING_MPOS 0.75
+
+#define DEFAULT_X_CURRENT 1.0
+#define DEFAULT_Y_CURRENT DEFAULT_X_CURRENT
+#define DEFAULT_Z_CURRENT DEFAULT_X_CURRENT
+
+#define DEFAULT_X_HOLD_CURRENT 0.25
+#define DEFAULT_Y_HOLD_CURRENT DEFAULT_X_HOLD_CURRENT
+#define DEFAULT_Z_HOLD_CURRENT DEFAULT_X_HOLD_CURRENT
+
+#define SPINDLE_TYPE SpindleType::NONE