From 205e0bd5cfad0759d115cef07aaa8a204a3dbb42 Mon Sep 17 00:00:00 2001 From: bdring Date: Mon, 2 Nov 2020 15:35:14 -0600 Subject: [PATCH] Machine Definition Cleanup (#658) - Removed machine definitions to speed up testing. - Moved 6 pack CS/MS3 pins with other axis pins to help them stay in sync with the aixs letters --- Grbl_Esp32/src/Machines/3axis_v3.h | 57 ------- Grbl_Esp32/src/Machines/3axis_xyx.h | 59 ------- .../Machines/6_pack_Lowrider_stepstick_v1.h | 16 +- .../src/Machines/6_pack_MPCNC_stepstick_v1.h | 11 +- .../src/Machines/6_pack_stepstick_XYZ_v1.h | 6 +- Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h | 13 +- Grbl_Esp32/src/Machines/espduino.h | 61 ------- .../src/Machines/spi_daisy_4axis_xyyz.h | 95 ----------- .../src/Machines/tapster_pro_stepstick.h | 155 ------------------ 9 files changed, 21 insertions(+), 452 deletions(-) delete mode 100644 Grbl_Esp32/src/Machines/3axis_v3.h delete mode 100644 Grbl_Esp32/src/Machines/3axis_xyx.h delete mode 100644 Grbl_Esp32/src/Machines/espduino.h delete mode 100644 Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h delete mode 100644 Grbl_Esp32/src/Machines/tapster_pro_stepstick.h diff --git a/Grbl_Esp32/src/Machines/3axis_v3.h b/Grbl_Esp32/src/Machines/3axis_v3.h deleted file mode 100644 index 7ed13584..00000000 --- a/Grbl_Esp32/src/Machines/3axis_v3.h +++ /dev/null @@ -1,57 +0,0 @@ -#pragma once -// clang-format off - -/* - 3axis_v3.h - Part of Grbl_ESP32 - - Pin assignments for the ESP32 Development Controller, v3.5. - https://github.com/bdring/Grbl_ESP32_Development_Controller - https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/ - - 2018 - Bart Dring - 2020 - Mitch Bradley - - 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 . -*/ - -#define MACHINE_NAME "ESP32_V3.5" - -#define X_STEP_PIN GPIO_NUM_12 -#define X_DIRECTION_PIN GPIO_NUM_26 -#define Y_STEP_PIN GPIO_NUM_14 -#define Y_DIRECTION_PIN GPIO_NUM_25 -#define Z_STEP_PIN GPIO_NUM_27 -#define Z_DIRECTION_PIN GPIO_NUM_33 - -#define X_LIMIT_PIN GPIO_NUM_2 // labeled X Limit -#define Y_LIMIT_PIN GPIO_NUM_4 // labeled Y Limit -#define Z_LIMIT_PIN GPIO_NUM_15 // labeled Z Limit - -// OK to comment out to use pin for other features -#define STEPPERS_DISABLE_PIN GPIO_NUM_13 - -#define SPINDLE_TYPE SpindleType::PWM -#define SPINDLE_OUTPUT_PIN GPIO_NUM_17 // labeled SpinPWM - -#define SPINDLE_ENABLE_PIN GPIO_NUM_22 // labeled SpinEnbl - -#define COOLANT_MIST_PIN GPIO_NUM_21 // labeled Mist -#define COOLANT_FLOOD_PIN GPIO_NUM_16 // labeled Flood -#define PROBE_PIN GPIO_NUM_32 // labeled Probe - -#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // labeled Door, needs external pullup -#define CONTROL_RESET_PIN GPIO_NUM_34 // labeled Reset, needs external pullup -#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // labeled Hold, needs external pullup -#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // labeled Start, needs external pullup diff --git a/Grbl_Esp32/src/Machines/3axis_xyx.h b/Grbl_Esp32/src/Machines/3axis_xyx.h deleted file mode 100644 index f7b9bda9..00000000 --- a/Grbl_Esp32/src/Machines/3axis_xyx.h +++ /dev/null @@ -1,59 +0,0 @@ -#pragma once -// clang-format off - -/* - 3axis_xyx.h - Part of Grbl_ESP32 - - Pin assignments for the ESP32 Development Controller - used to drive a dual motor gantry where the drivers - labeled X, Y and Z drive the machine axes X, Y and X. - https://github.com/bdring/Grbl_ESP32_Development_Controller - https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/ - - 2020 - Mitch Bradley - - 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 . -*/ - -#define MACHINE_NAME "ESP32_V4_XYX" -#define X_STEP_PIN GPIO_NUM_26 /* labeled Y */ -#define X_DIRECTION_PIN GPIO_NUM_15 /* labeled Y */ -#define Y_STEP_PIN GPIO_NUM_12 /* labeled X */ -#define Y_DIRECTION_PIN GPIO_NUM_14 /* labeled X */ -#define Y2_STEP_PIN GPIO_NUM_27 /* labeled Z */ -#define Y2_DIRECTION_PIN GPIO_NUM_33 /* labeled Z */ - -#define SPINDLE_TYPE SpindleType::PWM -#define SPINDLE_OUTPUT_PIN GPIO_NUM_2 -#define SPINDLE_ENABLE_PIN GPIO_NUM_22 - -#define X_LIMIT_PIN GPIO_NUM_17 -#define Y_LIMIT_PIN GPIO_NUM_4 -// #define Z_LIMIT_PIN GPIO_NUM_16 - -#define STEPPERS_DISABLE_PIN GPIO_NUM_13 - -#define COOLANT_MIST_PIN GPIO_NUM_21 -#define COOLANT_FLOOD_PIN GPIO_NUM_25 - - - -// see versions for X and Z -#define PROBE_PIN GPIO_NUM_32 - -#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup -#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup -#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup -#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup diff --git a/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h index 9e935607..8131f6d8 100644 --- a/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h +++ b/Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h @@ -39,37 +39,35 @@ #define I2S_OUT_WS GPIO_NUM_17 #define I2S_OUT_DATA GPIO_NUM_21 -#define X_STEPPER_MS3 I2SO(3) // Labeled X_CS -#define Y_STEPPER_MS3 I2SO(6) // Y_CS -#define Z_STEPPER_MS3 I2SO(11) // Z_CS -#define X2_STEPPER_MS3 I2SO(14) // A_CS -#define Y2_STEPPER_MS3 I2SO(19) // B_CS - // Motor Socket #1 #define X_DISABLE_PIN I2SO(0) #define X_DIRECTION_PIN I2SO(1) #define X_STEP_PIN I2SO(2) +#define X_STEPPER_MS3 I2SO(3) // Motor Socket #2 #define Y_DIRECTION_PIN I2SO(4) #define Y_STEP_PIN I2SO(5) +#define Y_STEPPER_MS3 I2SO(6) #define Y_DISABLE_PIN I2SO(7) // Motor Socket #3 #define Y2_DISABLE_PIN I2SO(8) #define Y2_DIRECTION_PIN I2SO(9) #define Y2_STEP_PIN I2SO(10) +#define Y2_STEPPER_MS3 I2SO(11) // Motor Socket #4 #define Z_DIRECTION_PIN I2SO(12) #define Z_STEP_PIN I2SO(13) +#define Z_STEPPER_MS3 I2SO(14) #define Z_DISABLE_PIN I2SO(15) // Motor Socket #5 #define Z2_DISABLE_PIN I2SO(16) #define Z2_DIRECTION_PIN I2SO(17) #define Z2_STEP_PIN I2SO(18) - +#define Z2_STEPPER_MS3 I2SO(19) /* Socket I/O reference @@ -112,8 +110,8 @@ Socket #5 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module #define X_LIMIT_PIN GPIO_NUM_33 #define Y_LIMIT_PIN GPIO_NUM_32 -#define Y2_LIMIT_PIN GPIO_NUM_35 -#define Z_LIMIT_PIN GPIO_NUM_34 +#define Y2_LIMIT_PIN GPIO_NUM_35 +#define Z_LIMIT_PIN GPIO_NUM_34 // 4x Input Module in Socket #2 // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module diff --git a/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h index 034dade2..5d3ca518 100644 --- a/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h +++ b/Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h @@ -39,36 +39,35 @@ #define I2S_OUT_WS GPIO_NUM_17 #define I2S_OUT_DATA GPIO_NUM_21 -#define X_STEPPER_MS3 I2SO(3) // Labeled X_CS -#define Y_STEPPER_MS3 I2SO(6) // Y_CS -#define Z_STEPPER_MS3 I2SO(11) // Z_CS -#define X2_STEPPER_MS3 I2SO(14) // A_CS -#define Y2_STEPPER_MS3 I2SO(19) // B_CS - // Motor Socket #1 #define X_DISABLE_PIN I2SO(0) #define X_DIRECTION_PIN I2SO(1) #define X_STEP_PIN I2SO(2) +#define X_STEPPER_MS3 I2SO(3) // Motor Socket #2 #define Y_DIRECTION_PIN I2SO(4) #define Y_STEP_PIN I2SO(5) +#define Y_STEPPER_MS3 I2SO(6) #define Y_DISABLE_PIN I2SO(7) // Motor Socket #3 #define Z_DISABLE_PIN I2SO(8) #define Z_DIRECTION_PIN I2SO(9) #define Z_STEP_PIN I2SO(10) +#define Z_STEPPER_MS3 I2SO(11) // Motor Socket #4 #define X2_DIRECTION_PIN I2SO(12) #define X2_STEP_PIN I2SO(13) +#define X2_STEPPER_MS3 I2SO(14) #define X2_DISABLE_PIN I2SO(15) // Motor Socket #5 #define Y2_DISABLE_PIN I2SO(16) #define Y2_DIRECTION_PIN I2SO(17) #define Y2_STEP_PIN I2SO(18) +#define Y2_STEPPER_MS3 I2SO(19) /* diff --git a/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h b/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h index a258d32f..b86c0c26 100644 --- a/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h +++ b/Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h @@ -41,24 +41,24 @@ #define I2S_OUT_WS GPIO_NUM_17 #define I2S_OUT_DATA GPIO_NUM_21 -#define X_STEPPER_MS3 I2SO(3) // X_CS -#define Y_STEPPER_MS3 I2SO(6) // Y_CS -#define Z_STEPPER_MS3 I2SO(11) // Z_CS // Motor Socket #1 #define X_DISABLE_PIN I2SO(0) #define X_DIRECTION_PIN I2SO(1) #define X_STEP_PIN I2SO(2) +#define X_STEPPER_MS3 I2SO(3) // Motor Socket #2 #define Y_DIRECTION_PIN I2SO(4) #define Y_STEP_PIN I2SO(5) +#define Y_STEPPER_MS3 I2SO(6) #define Y_DISABLE_PIN I2SO(7) // Motor Socket #3 #define Z_DISABLE_PIN I2SO(8) #define Z_DIRECTION_PIN I2SO(9) #define Z_STEP_PIN I2SO(10) +#define Z_STEPPER_MS3 I2SO(11) /* Socket I/O reference diff --git a/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h b/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h index caf673be..084136b0 100644 --- a/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h +++ b/Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h @@ -40,41 +40,40 @@ #define I2S_OUT_DATA GPIO_NUM_21 -#define X_STEPPER_MS3 I2SO(3) // X_CS -#define Y_STEPPER_MS3 I2SO(6) // Y_CS -#define Z_STEPPER_MS3 I2SO(11) // Z_CS -#define A_STEPPER_MS3 I2SO(14) // A_CS -#define B_STEPPER_MS3 I2SO(19) // B_CS -#define C_STEPPER_MS3 I2SO(22) // C_CS - // Motor Socket #1 #define X_DISABLE_PIN I2SO(0) #define X_DIRECTION_PIN I2SO(1) #define X_STEP_PIN I2SO(2) +#define X_STEPPER_MS3 I2SO(3) // Motor Socket #2 #define Y_DIRECTION_PIN I2SO(4) #define Y_STEP_PIN I2SO(5) +#define Y_STEPPER_MS3 I2SO(6) #define Y_DISABLE_PIN I2SO(7) // Motor Socket #3 #define Z_DISABLE_PIN I2SO(8) #define Z_DIRECTION_PIN I2SO(9) #define Z_STEP_PIN I2SO(10) +#define Z_STEPPER_MS3 I2SO(11) // Motor Socket #4 #define A_DIRECTION_PIN I2SO(12) #define A_STEP_PIN I2SO(13) +#define A_STEPPER_MS3 I2SO(14) #define A_DISABLE_PIN I2SO(15) // Motor Socket #5 #define B_DISABLE_PIN I2SO(16) #define B_DIRECTION_PIN I2SO(17) #define B_STEP_PIN I2SO(18) +#define B_STEPPER_MS3 I2SO(19) // Motor Socket #5 #define C_DIRECTION_PIN I2SO(20) #define C_STEP_PIN I2SO(21) +#define C_STEPPER_MS3 I2SO(22) #define C_DISABLE_PIN I2SO(23) diff --git a/Grbl_Esp32/src/Machines/espduino.h b/Grbl_Esp32/src/Machines/espduino.h deleted file mode 100644 index 7bc6b8a4..00000000 --- a/Grbl_Esp32/src/Machines/espduino.h +++ /dev/null @@ -1,61 +0,0 @@ -#pragma once -// clang-format off - -/* - espduino.h - Part of Grbl_ESP32 - - Pin assignments for ESPDUINO-32 Boards and Protoneer V3 boards - Note: Probe pin is mapped, but will require a 10k external pullup to 3.3V to work. - - Rebooting...See this issue https://github.com/bdring/Grbl_Esp32/issues/314 - !!!! Experimental Untested !!!!! - - 2019 - Bart Dring - 2020 - Mitch Bradley - - 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 . -*/ - -#define MACHINE_NAME "ESPDUINO_32" - -#define X_STEP_PIN GPIO_NUM_26 -#define X_DIRECTION_PIN GPIO_NUM_16 - -#define Y_STEP_PIN GPIO_NUM_25 -#define Y_DIRECTION_PIN GPIO_NUM_27 - -#define Z_STEP_PIN GPIO_NUM_17 -#define Z_DIRECTION_PIN GPIO_NUM_14 - -// OK to comment out to use pin for other features -#define STEPPERS_DISABLE_PIN GPIO_NUM_12 - -#define SPINDLE_TYPE SpindleType::PWM -#define SPINDLE_OUTPUT_PIN GPIO_NUM_19 - -#define SPINDLE_DIR_PIN GPIO_NUM_18 - -#define COOLANT_FLOOD_PIN GPIO_NUM_34 -#define COOLANT_MIST_PIN GPIO_NUM_36 - -#define X_LIMIT_PIN GPIO_NUM_13 -#define Y_LIMIT_PIN GPIO_NUM_5 -#define Z_LIMIT_PIN GPIO_NUM_19 - -#define PROBE_PIN GPIO_NUM_39 - -#define CONTROL_RESET_PIN GPIO_NUM_2 -#define CONTROL_FEED_HOLD_PIN GPIO_NUM_4 -#define CONTROL_CYCLE_START_PIN GPIO_NUM_35 // ESP32 needs external pullup diff --git a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h b/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h deleted file mode 100644 index 1bd15efd..00000000 --- a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h +++ /dev/null @@ -1,95 +0,0 @@ -#pragma once -// clang-format off - -/* - spi_daisy_4axis_xyyz.h - Part of Grbl_ESP32 - - Pin assignments for a 3-axis with Y ganged using Triaminic drivers - in daisy-chained SPI mode. - https://github.com/bdring/4_Axis_SPI_CNC - - 2019 - Bart Dring - 2020 - Mitch Bradley - - 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 . -*/ - -#define MACHINE_NAME "SPI_DAISY_4X_xyyz" - -#ifdef N_AXIS - #undef N_AXIS -#endif -#define N_AXIS 3 // can be 3 or 4. (if 3 install bypass jumper next to the A driver) - -#define TRINAMIC_DAISY_CHAIN - -#define TRINAMIC_RUN_MODE TrinamicMode :: CoolStep -#define TRINAMIC_HOMING_MODE TrinamicMode :: CoolStep - -// Use SPI enable instead of the enable pin -// The hardware enable pin is tied to ground -#define USE_TRINAMIC_ENABLE - -#define DEFAULT_HOMING_SQUARED_AXES bit(Y_AXIS) - -// Y motor connects to the 1st driver -#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 - -// Y motor connects to the 2nd driver -#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 - -// Y2 motor connects to the 2nd driver -#define Y2_TRINAMIC_DRIVER 2130 // Which Driver Type? -#define Y2_RSENSE TMC2130_RSENSE_DEFAULT -#define Y2_STEP_PIN GPIO_NUM_15 // Z on schem -#define Y2_DIRECTION_PIN GPIO_NUM_2 // Z on schem -#define Y2_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin - -// Z Axis motor connects to the 4th driver -#define Z_TRINAMIC_DRIVER 2130 // Which Driver Type? -#define Z_RSENSE TMC2130_RSENSE_DEFAULT -#define Z_STEP_PIN GPIO_NUM_33 // A on schem -#define Z_DIRECTION_PIN GPIO_NUM_32 // A on schem -#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin - -// Mist is a 3.3V output -// Turn on with M7 and off with M9 -#define COOLANT_MIST_PIN GPIO_NUM_21 - -#define SPINDLE_TYPE SpindleType::PWM -#define SPINDLE_OUTPUT_PIN GPIO_NUM_25 -#define SPINDLE_ENABLE_PIN GPIO_NUM_4 - -// Relay operation -// Install Jumper near relay -// For spindle Use max RPM of 1 -// For PWM remove jumper and set MAX RPM to something higher ($30 setting) -// Interlock jumper along top edge needs to be installed for both versions -#define DEFAULT_SPINDLE_RPM_MAX 1 // Should be 1 for relay operation - -#define PROBE_PIN GPIO_NUM_22 - -#define X_LIMIT_PIN GPIO_NUM_36 -#define Y_LIMIT_PIN GPIO_NUM_39 -#define Z_LIMIT_PIN GPIO_NUM_34 - diff --git a/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h b/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h deleted file mode 100644 index 366157c5..00000000 --- a/Grbl_Esp32/src/Machines/tapster_pro_stepstick.h +++ /dev/null @@ -1,155 +0,0 @@ -#pragma once -// clang-format off - -/* - tapster_pro_stepstick.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 . -*/ - -#define MACHINE_NAME "Tapster Pro Delta (StepStick)" - -#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 N_AXIS 3 - -#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 KINEMATIC_SEGMENT_LENGTH 1.0f // segment length in mm -#define MAX_NEGATIVE_ANGLE -0.75f // -#define MAX_POSITIVE_ANGLE (M_PI / 2.0) // - - -// ================== Config ====================== - -// Set $Homing/Cycle0=XYZ - -// === Special Features - -// I2S (steppers & other output-only pins) -#define USE_I2S_OUT -#define USE_I2S_STEPS -//#define DEFAULT_STEPPER ST_I2S_STATIC -// === Default settings -#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE - -#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set - -#define I2S_OUT_BCK GPIO_NUM_22 -#define I2S_OUT_WS GPIO_NUM_17 -#define I2S_OUT_DATA GPIO_NUM_21 - -// ================== CPU MAP ====================== - -#define X_STEPPER_MS3 I2SO(3) // X_CS -#define Y_STEPPER_MS3 I2SO(6) // Y_CS -#define Z_STEPPER_MS3 I2SO(11) // Z_CS - -#define STEPPER_RESET GPIO_NUM_19 - -// Motor Socket #1 -#define X_DISABLE_PIN I2SO(0) -#define X_DIRECTION_PIN I2SO(1) -#define X_STEP_PIN I2SO(2) - -// Motor Socket #2 -#define Y_DIRECTION_PIN I2SO(4) -#define Y_STEP_PIN I2SO(5) -#define Y_DISABLE_PIN I2SO(7) - -// Motor Socket #3 -#define Z_DISABLE_PIN I2SO(8) -#define Z_DIRECTION_PIN I2SO(9) -#define Z_STEP_PIN I2SO(10) - -// CNC I/O Modules - -#define X_LIMIT_PIN GPIO_NUM_33 -#define Y_LIMIT_PIN GPIO_NUM_32 -#define Z_LIMIT_PIN GPIO_NUM_35 - -// ================= defaults =========================== - -#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle - -#define DEFAULT_X_MICROSTEPS 32 -#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 100.0 // mm/min -#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE -#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE - -#define DEFAULT_X_ACCELERATION 20.0 -#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 100 -#define DEFAULT_HOMING_DIR_MASK (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS)) // all axes home negative -#define DEFAULT_HOMING_ENABLE 1 -#define DEFAULT_INVERT_LIMIT_PINS 0 - -// The machine homes up and above center. MPos is the axis angle in radians -// at the homing posiiton - -#define DEFAULT_X_HOMING_MPOS -0.75 // neagtive because above horizontal -#define DEFAULT_Y_HOMING_MPOS -0.75 -#define DEFAULT_Z_HOMING_MPOS -0.75 - -// the total travel is straight down from horizontal (pi/2) + the up travel -#define DEFAULT_X_MAX_TRAVEL ((M_PI / 2.0) - DEFAULT_X_HOMING_MPOS) -#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL -#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL - -#define DEFAULT_HOMING_PULLOFF -DEFAULT_X_HOMING_MPOS - -#define SPINDLE_TYPE SpindleType::NONE \ No newline at end of file