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bdring
2020-09-26 11:05:41 -05:00
parent 0c60b95b8c
commit 64a90b18d4
2 changed files with 16 additions and 10 deletions
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22
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -115,7 +115,7 @@ 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;
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, "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
@@ -131,10 +131,10 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
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]);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Raw Target: %3.3f %3.3f %3.3f", target[0], target[1], target[2]); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Raw Target: %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
/* /*
grbl_msg_sendf(CLIENT_SERIAL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
@@ -145,15 +145,21 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
*/ */
//target[Z_AXIS] += delta_z_offset + (gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS]); //target[Z_AXIS] += delta_z_offset + (gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS]);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "To: %3.3f %3.3f %3.3f", target[0], target[1], target[2]); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "To: %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
status = delta_calcInverse(target, motor_angles); status = delta_calcInverse(target, motor_angles);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Angles: %3.3f %3.3f %3.3f", motor_angles[0], motor_angles[1], motor_angles[2]); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Angles: %3.3f %3.3f %3.3f", motor_angles[0], motor_angles[1], motor_angles[2]);
// 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
status = delta_calcInverse(position, motor_angles);
float start_pos[N_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[Z_AXIS] = position[Z_AXIS] + gc_state.coord_system[Z_AXIS];
status = delta_calcInverse(start_pos, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) { if (status == KinematicError::OUT_OF_RANGE) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start position error"); 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]);
start_position_erorr = true; start_position_erorr = true;
} }

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