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Update machine defs

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bdring
2020-10-08 11:58:35 -05:00
parent 1a4dea7f7f
commit 699ee4bd12
4 changed files with 28 additions and 162 deletions
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15
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -107,13 +107,14 @@ void machine_init() {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Delta Angle Range %3.3f, %3.3f", MAX_NEGATIVE_ANGLE, MAX_POSITIVE_ANGLE);
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"DXL_COUNT_MIN %4.0f CENTER %d MAX %4.0f PER_RAD %d",
DXL_COUNT_MIN,
DXL_CENTER,
DXL_COUNT_MAX,
DXL_COUNT_PER_RADIAN);
// grbl_msg_sendf(CLIENT_SERIAL,
// MsgLevel::Info,
// "DXL_COUNT_MIN %4.0f CENTER %d MAX %4.0f PER_RAD %d",
// DXL_COUNT_MIN,
// DXL_CENTER,
// DXL_COUNT_MAX,
// DXL_COUNT_PER_RADIAN);
}
bool user_defined_homing() { // true = do not continue with normal Grbl homing

2
Grbl_Esp32/src/Machine.h
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@@ -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/tapster3.h"
# include "Machines/tapster_pro_6P_trinamic.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

149
Grbl_Esp32/src/Machines/tapster_pro.h
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@@ -1,149 +0,0 @@
#pragma once
// clang-format off
/*
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"
#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
// ================== CPU MAP ======================
#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 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
// Example Quad MOSFET module in socket #3
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
#define USER_DIGITAL_PIN_0 GPIO_NUM_26
#define USER_DIGITAL_PIN_1 GPIO_NUM_4
#define USER_DIGITAL_PIN_2 GPIO_NUM_16
#define USER_DIGITAL_PIN_3 GPIO_NUM_27
// Example Servo module in socket #4
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/RC-Servo-BESC-CNC-I-O-Module
// https://github.com/bdring/Grbl_Esp32/wiki/M62,-M63,-M64,-M65-&-M67-User-I-O-Commands
#define USER_ANALOG_PIN_0 GPIO_NUM_14
#define USER_ANALOG_PIN_1 GPIO_NUM_13
#define USER_ANALOG_PIN_2 GPIO_NUM_15
#define USER_ANALOG_PIN_3 GPIO_NUM_12
// ================= 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 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 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

24
Grbl_Esp32/src/Machines/tapster_pro_6P_trinamic.h
View File

@@ -120,12 +120,24 @@
#define Z_LIMIT_PIN GPIO_NUM_39
#define PROBE_PIN GPIO_NUM_36
//Example Quad MOSFET module on socket #5
//Example Quad MOSFET module on socket #3
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
#define USER_DIGITAL_PIN_0 I2SO(24)
#define USER_DIGITAL_PIN_1 I2SO(25)
#define USER_DIGITAL_PIN_2 I2SO(26)
#define USER_DIGITAL_PIN_3 I2SO(27)
#define USER_DIGITAL_PIN_0 GPIO_NUM_26
#define USER_DIGITAL_PIN_1 GPIO_NUM_4
#define USER_DIGITAL_PIN_2 GPIO_NUM_16
#define USER_DIGITAL_PIN_3 GPIO_NUM_27
// Example Servo module in socket #4
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/RC-Servo-BESC-CNC-I-O-Module
// https://github.com/bdring/Grbl_Esp32/wiki/M62,-M63,-M64,-M65-&-M67-User-I-O-Commands
#define USER_ANALOG_PIN_0 GPIO_NUM_14
#define USER_ANALOG_PIN_1 GPIO_NUM_13
#define USER_ANALOG_PIN_2 GPIO_NUM_15
#define USER_ANALOG_PIN_3 GPIO_NUM_12
#define USER_ANALOG_PIN_0_FREQ 50 // for use with RC servos
#define USER_ANALOG_PIN_1_FREQ 50
#define USER_ANALOG_PIN_2_FREQ 50
#define USER_ANALOG_PIN_3_FREQ 50
// ================= defaults ===========================
@@ -177,4 +189,6 @@
#define DEFAULT_HOMING_PULLOFF -DEFAULT_X_HOMING_MPOS
#define DEFAULT_INVERT_PROBE_PIN 1
#define SPINDLE_TYPE SpindleType::NONE