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Code Issues Releases Wiki Activity

Fixed delta angle limits

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This commit is contained in:
bdring
2020-02-18 10:02:14 -06:00
parent b31efd6bca
commit 29a60f6c3b
6 changed files with 23 additions and 264 deletions
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1
.pio/build/project.checksum
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@@ -1 +0,0 @@
5ab91fadf2a79dbc93feacc98a8704603a14fe95

214
.vscode/c_cpp_properties.json vendored
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@@ -1,214 +0,0 @@
{
"configurations": [
{
"name": "!!! WARNING !!! AUTO-GENERATED FILE, PLEASE DO NOT MODIFY IT AND USE https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags"
},
{
"name": "Win32",
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"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/ESPmDNS/src",
"c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/libraries/ESP32SSDP",
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"C:/Users/barto/.platformio/packages/tool-unity",
""
],
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"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/Update/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/ESPmDNS/src",
"c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/libraries/ESP32SSDP",
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"c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/libraries/arduinoWebSockets/src",
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"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/SD/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
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"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/WebServer/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/WiFi/src",
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"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/BLE/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/ESP32/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/FFat/src",
"C:/Users/barto/.platformio/packages/framework-arduinoespressif32/libraries/HTTPClient/src",
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""
]
},
"defines": [
"PLATFORMIO=40100",
"ARDUINO_NodeMCU_32S",
"ESP32",
"ESP_PLATFORM",
"F_CPU=240000000L",
"HAVE_CONFIG_H",
"MBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\"",
"ARDUINO=10805",
"ARDUINO_ARCH_ESP32",
"ARDUINO_VARIANT=\"nodemcu-32s\"",
"ARDUINO_BOARD=\"NodeMCU-32S\"",
""
],
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7
.vscode/extensions.json vendored
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@@ -1,7 +0,0 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

32
.vscode/launch.json vendored
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@@ -1,32 +0,0 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
// PIO Unified Debugger
//
// Documentation: https://docs.platformio.org/page/plus/debugging.html
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
{
"version": "0.2.0",
"configurations": [
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/.pio/build/nodemcu-32s/firmware.elf",
"toolchainBinDir": "C:/Users/barto/.platformio/packages/toolchain-xtensa32/bin",
"preLaunchTask": {
"type": "PlatformIO",
"task": "Pre-Debug"
},
"internalConsoleOptions": "openOnSessionStart"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/.pio/build/nodemcu-32s/firmware.elf",
"toolchainBinDir": "C:/Users/barto/.platformio/packages/toolchain-xtensa32/bin",
"internalConsoleOptions": "openOnSessionStart"
}
]
}

29
Grbl_Esp32/spi_delta.cpp
View File

@@ -189,10 +189,10 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
if (status == KIN_ANGLE_ERROR) {
return;
}
if (motor_angles[0] < MAX_NEGATIVE_ANGLE || motor_angles[0] < MAX_NEGATIVE_ANGLE || motor_angles[0] < MAX_NEGATIVE_ANGLE) {
grbl_sendf( CLIENT_SERIAL, "[MSG:Destination too high]\r\n");
if (motor_angles[0] < MAX_NEGATIVE_ANGLE || motor_angles[1] < MAX_NEGATIVE_ANGLE || motor_angles[2] < MAX_NEGATIVE_ANGLE) {
grbl_sendf( CLIENT_SERIAL, "[MSG:Destination unreachable. Move rejected]\r\n");
return;
}
}
// adjust the end effector location
//target[Z_AXIS] += delta_z_offset; // Note: For typical (fixed top) deltas, the offset is negative
@@ -224,11 +224,18 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
int status = delta_calcInverse(seg_target[X_AXIS] , seg_target[Y_AXIS] , seg_target[Z_AXIS] + delta_z_offset, motor_angles[0], motor_angles[1], motor_angles[2]);
// check to see if we are trying to go too high
for (int axis = 0; axis < N_AXIS; axis++) {
if (motor_angles[axis] < MAX_NEGATIVE_ANGLE) {
grbl_sendf( CLIENT_SERIAL, "[MSG:Axis %d angle error. Too high %4.3f]\r\n", axis, motor_angles[axis]);
}
}
/*
if (motor_angles[0] < MAX_NEGATIVE_ANGLE || motor_angles[0] < MAX_NEGATIVE_ANGLE || motor_angles[0] < MAX_NEGATIVE_ANGLE) {
grbl_sendf( CLIENT_SERIAL, "[MSG:Angle error. Too high]\r\n");
status = KIN_ANGLE_ERROR;
}
*/
if(status == KIN_ANGLE_CALC_OK) {
//grbl_sendf( CLIENT_SERIAL, "[MSG:Kin Segment Target Angs X:%4.3f Y:%4.3f Z:%4.3f]\r\n\r\n", motor_angles[0], motor_angles[1], motor_angles[2]);
@@ -397,7 +404,7 @@ void forward_kinematics(float *position)
*/
bool kinematics_homing(uint8_t cycle_mask)
{
delta_motor_mode(DELTA_MOTOR_HOME_MODE); // send spi commands for this mode
delta_motor_mode(DELTA_MOTOR_RUN_MODE); // send spi commands for this mode
if (spi_delta_homing(cycle_mask)) { // if successfully homes
@@ -407,7 +414,7 @@ bool kinematics_homing(uint8_t cycle_mask)
sys_position[Z_AXIS] = 0;
gc_sync_position();
plan_sync_position();
plan_sync_position();
}
else {
set_stepper_disable(true); // disable motors to allow them to free wheel
@@ -461,14 +468,16 @@ bool spi_delta_homing(uint8_t cycle_mask)
if (mode == DELTA_MOTOR_RUN_MODE) {
TRINAMIC_X.tbl(1);
TRINAMIC_X.toff(3);
TRINAMIC_X.toff(5);
TRINAMIC_X.microsteps(settings.microsteps[X_AXIS]);
TRINAMIC_X.rms_current(settings.current[X_AXIS] * 1000.0, settings.hold_current[X_AXIS]/100.0);
TRINAMIC_X.TCOOLTHRS(NORMAL_TCOOLTHRS); // lower threshold velocity for switching on coolStep and stallGuard feature
TRINAMIC_X.THIGH(NORMAL_THIGH);
TRINAMIC_X.hysteresis_start(4);
TRINAMIC_X.hysteresis_end(-2);
TRINAMIC_X.en_pwm_mode(1); // Enable extremely quiet stepping
TRINAMIC_X.pwm_autoscale(1);
TRINAMIC_Y.tbl(1);
TRINAMIC_Y.toff(3);
TRINAMIC_Y.microsteps(settings.microsteps[Y_AXIS]);
@@ -477,6 +486,8 @@ bool spi_delta_homing(uint8_t cycle_mask)
TRINAMIC_Y.THIGH(NORMAL_THIGH);
TRINAMIC_Y.hysteresis_start(4);
TRINAMIC_Y.hysteresis_end(-2);
TRINAMIC_Y.en_pwm_mode(1); // Enable extremely quiet stepping
TRINAMIC_Y.pwm_autoscale(1);
TRINAMIC_Z.tbl(1);
TRINAMIC_Z.toff(3);
@@ -486,6 +497,8 @@ bool spi_delta_homing(uint8_t cycle_mask)
TRINAMIC_Z.THIGH(NORMAL_THIGH);
TRINAMIC_Z.hysteresis_start(4);
TRINAMIC_Z.hysteresis_end(-2);
TRINAMIC_Z.en_pwm_mode(1); // Enable extremely quiet stepping
TRINAMIC_Z.pwm_autoscale(1);
}
else if (mode == DELTA_MOTOR_HOME_MODE) {

4
Grbl_Esp32/spi_delta.h
View File

@@ -43,7 +43,7 @@
#define KIN_ANGLE_CALC_OK 0
#define KIN_ANGLE_ERROR -1
#define MAX_NEGATIVE_ANGLE -0.75 // in radians how far can the arms go up?
#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
#define HOMING_CURRENT_REDUCTION 1.0
@@ -66,7 +66,7 @@
#ifdef N_HOMING_LOCATE_CYCLE
#undef N_HOMING_LOCATE_CYCLE
#endif
#define N_HOMING_LOCATE_CYCLE 0
#define N_HOMING_LOCATE_CYCLE 1
#define SHOW_EXTENDED_SETTINGS