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bdring
2020-09-28 10:13:08 -05:00
parent 64a90b18d4
commit 5dcf05a952
3 changed files with 22 additions and 12 deletions
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26
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -115,9 +115,18 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
float pos_cart[N_AXIS]; float pos_cart[N_AXIS];
KinematicError status; KinematicError status;
position[X_AXIS] += gc_state.coord_system[X_AXIS];
position[Y_AXIS] += gc_state.coord_system[Y_AXIS];
position[Z_AXIS] += gc_state.coord_system[Z_AXIS];
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target: %3.3f %3.3f %3.3f", target[0], target[1], target[2]); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target: %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Sys Po: %3.3f %3.3f %3.3f", sys_position[0], sys_position[1], sys_position[2]);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Position: %3.3f %3.3f %3.3f", position[0], position[1], position[2]); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Position: %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
/*
// Look for unchanged axes. If there is no position change on an axis in gcode, it will send the angle // Look for unchanged axes. If there is no position change on an axis in gcode, it will send the angle
// G0Z10 will send the Z10 and the previous values for other axes. Unfortunately those are in angles // G0Z10 will send the Z10 and the previous values for other axes. Unfortunately those are in angles
// we need to restore them for our previous postision copy. // we need to restore them for our previous postision copy.
@@ -126,10 +135,10 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
target[axis] == last_cartesian[axis]; target[axis] == last_cartesian[axis];
} }
} }
*/
// convert the current position to cartesian // convert the current position to cartesian
calc_forward_kinematics(position, pos_cart); calc_forward_kinematics(position, pos_cart);
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "From Angs: %3.3f %3.3f %3.3f", position[0], position[1], position[2]); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "From Angs: %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "From Cart: %3.3f %3.3f %3.3f", pos_cart[0], pos_cart[1], pos_cart[2]); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "From Cart: %3.3f %3.3f %3.3f", pos_cart[0], pos_cart[1], pos_cart[2]);
@@ -151,15 +160,16 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
// see if start is in work area...if not skip segments and try to go to target // see if start is in work area...if not skip segments and try to go to target
/*
float start_pos[N_AXIS]; float start_pos[N_AXIS];
start_pos[X_AXIS] = position[X_AXIS] + gc_state.coord_system[X_AXIS]; start_pos[X_AXIS] = position[X_AXIS] + gc_state.coord_system[X_AXIS];
start_pos[Y_AXIS] = position[Y_AXIS] + gc_state.coord_system[Y_AXIS]; start_pos[Y_AXIS] = position[Y_AXIS] + gc_state.coord_system[Y_AXIS];
start_pos[Z_AXIS] = position[Z_AXIS] + gc_state.coord_system[Z_AXIS]; start_pos[Z_AXIS] = position[Z_AXIS] + gc_state.coord_system[Z_AXIS];
*/
status = delta_calcInverse(start_pos, motor_angles); status = delta_calcInverse(position, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) { if (status == KinematicError::OUT_OF_RANGE) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start position error %3.3f %3.3f %3.3f", start_pos[0], start_pos[1], start_pos[2]); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start position error %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
start_position_erorr = true; start_position_erorr = true;
} }
@@ -167,11 +177,11 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
status = delta_calcInverse(target, motor_angles); status = delta_calcInverse(target, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) { if (status == KinematicError::OUT_OF_RANGE) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target unreachable"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target unreachable error %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
return; //return;
} }
target[Z_AXIS] -= delta_z_offset; // restore it //target[Z_AXIS] -= delta_z_offset; // restore it
memcpy(position, target, sizeof(target)); memcpy(position, target, sizeof(target));
memcpy(last_angle, motor_angles, sizeof(motor_angles)); memcpy(last_angle, motor_angles, sizeof(motor_angles));

4
Grbl_Esp32/src/Config.h
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@@ -96,11 +96,11 @@ const int MAX_N_AXIS = 6;
//#define CONNECT_TO_SSID "your SSID" //#define CONNECT_TO_SSID "your SSID"
//#define SSID_PASSWORD "your SSID password" //#define SSID_PASSWORD "your SSID password"
//CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE) //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
#define ENABLE_BLUETOOTH // enable bluetooth //#define ENABLE_BLUETOOTH // enable bluetooth
#define ENABLE_SD_CARD // enable use of SD Card to run jobs #define ENABLE_SD_CARD // enable use of SD Card to run jobs
#define ENABLE_WIFI //enable wifi //#define ENABLE_WIFI //enable wifi
#if defined(ENABLE_WIFI) || defined(ENABLE_BLUETOOTH) #if defined(ENABLE_WIFI) || defined(ENABLE_BLUETOOTH)
# define WIFI_OR_BLUETOOTH # define WIFI_OR_BLUETOOTH

4
Grbl_Esp32/src/MotionControl.cpp
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@@ -370,8 +370,8 @@ void mc_homing_cycle(uint8_t cycle_mask) {
// This give kinematics a chance to do something after normal homing // This give kinematics a chance to do something after normal homing
kinematics_post_homing(); kinematics_post_homing();
#endif #endif
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle. // If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init(); limits_init();
} }
// Perform tool length probe cycle. Requires probe switch. // Perform tool length probe cycle. Requires probe switch.