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bdring
2020-09-28 10:33:33 -05:00
parent 5dcf05a952
commit 7818a4426f
1 changed files with 10 additions and 5 deletions
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15
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -113,16 +113,21 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
bool start_position_erorr = false;
bool show_error = true; // shows error once
float pos_cart[N_AXIS];
float inital_position[N_AXIS];
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];
memcpy(inital_position, position, sizeof(position));
inital_position[X_AXIS] += gc_state.coord_system[X_AXIS];
inital_position[Y_AXIS] += gc_state.coord_system[Y_AXIS];
inital_position[Z_AXIS] += gc_state.coord_system[Z_AXIS];
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Init Pos: %3.3f %3.3f %3.3f", inital_position[0], inital_position[1], inital_position[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]);
@@ -138,7 +143,7 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
*/
// convert the current position to cartesian
calc_forward_kinematics(position, pos_cart);
calc_forward_kinematics(inital_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 Cart: %3.3f %3.3f %3.3f", pos_cart[0], pos_cart[1], pos_cart[2]);
@@ -166,7 +171,7 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
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(position, motor_angles);
status = delta_calcInverse(inital_position, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start position error %3.3f %3.3f %3.3f", position[0], position[1], position[2]);