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bdring
2020-10-19 09:41:33 -05:00
parent 00b8c7764e
commit ddc898b62e
5 changed files with 58 additions and 43 deletions
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57
Grbl_Esp32/Custom/parallel_delta.cpp
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@@ -65,6 +65,10 @@ enum class KinematicError : uint8_t {
// Create custom run time $ settings // Create custom run time $ settings
FloatSetting* kinematic_segment_len; FloatSetting* kinematic_segment_len;
FloatSetting* delta_crank_len;
FloatSetting* delta_link_len;
FloatSetting* delta_crank_side_len;
FloatSetting* delta_effector_side_len;
// trigonometric constants to speed up calculations // trigonometric constants to speed up calculations
const float sqrt3 = 1.732050807; const float sqrt3 = 1.732050807;
@@ -76,10 +80,10 @@ const float sin30 = 0.5;
const float tan30 = 1.0 / sqrt3; const float tan30 = 1.0 / sqrt3;
// the geometry of the delta // the geometry of the delta
const float rf = RADIUS_FIXED; // radius of the fixed side (length of motor cranks) float rf; // radius of the fixed side (length of motor cranks)
const float re = RADIUS_EFF; // radius of end effector side (length of linkages) float re; // radius of end effector side (length of linkages)
const float f = LENGTH_FIXED_SIDE; // sized of fixed side triangel float f; // sized of fixed side triangel
const float e = LENGTH_EFF_SIDE; // size of end effector side triangle float e; // size of end effector side triangle
static float last_angle[3] = { 0.0, 0.0, 0.0 }; // A place to save the previous motor angles for distance/feed rate calcs static float last_angle[3] = { 0.0, 0.0, 0.0 }; // A place to save the previous motor angles for distance/feed rate calcs
static float last_cartesian[N_AXIS] = { static float last_cartesian[N_AXIS] = {
@@ -91,6 +95,7 @@ int calc_forward_kinematics(float* angles, float* cartesian);
KinematicError delta_calcInverse(float* cartesian, float* angles); KinematicError delta_calcInverse(float* cartesian, float* angles);
KinematicError delta_calcAngleYZ(float x0, float y0, float z0, float& theta); KinematicError delta_calcAngleYZ(float x0, float y0, float z0, float& theta);
float three_axis_dist(float* point1, float* point2); float three_axis_dist(float* point1, float* point2);
void read_settings();
void machine_init() { void machine_init() {
float angles[N_AXIS] = { 0.0, 0.0, 0.0 }; float angles[N_AXIS] = { 0.0, 0.0, 0.0 };
@@ -98,6 +103,12 @@ void machine_init() {
// Custom $ settings // Custom $ settings
kinematic_segment_len = new FloatSetting(EXTENDED, WG, NULL, "Kinematics/SegmentLength", KINEMATIC_SEGMENT_LENGTH, 0.2, 5.0); kinematic_segment_len = new FloatSetting(EXTENDED, WG, NULL, "Kinematics/SegmentLength", KINEMATIC_SEGMENT_LENGTH, 0.2, 5.0);
delta_crank_len = new FloatSetting(EXTENDED, WG, NULL, "Delta/CrankLength", RADIUS_FIXED, 50, 150.0);
delta_link_len = new FloatSetting(EXTENDED, WG, NULL, "Delta/LinkLength", RADIUS_EFF, 0.2, 5.0);
delta_crank_side_len = new FloatSetting(EXTENDED, WG, NULL, "Delta/CrankSideLength", LENGTH_FIXED_SIDE, 0.2, 5.0);
delta_effector_side_len = new FloatSetting(EXTENDED, WG, NULL, "Delta/EffectorSideLength", LENGTH_EFF_SIDE, 0.2, 5.0);
read_settings();
// Calculate the Z offset at the arm zero angles ... // Calculate the Z offset at the arm zero angles ...
// Z offset is the z distance from the motor axes to the end effector axes at zero angle // Z offset is the z distance from the motor axes to the end effector axes at zero angle
@@ -107,14 +118,13 @@ 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, "Delta Angle Range %3.3f, %3.3f", MAX_NEGATIVE_ANGLE, MAX_POSITIVE_ANGLE);
// grbl_msg_sendf(CLIENT_SERIAL, // grbl_msg_sendf(CLIENT_SERIAL,
// MsgLevel::Info, // MsgLevel::Info,
// "DXL_COUNT_MIN %4.0f CENTER %d MAX %4.0f PER_RAD %d", // "DXL_COUNT_MIN %4.0f CENTER %d MAX %4.0f PER_RAD %d",
// DXL_COUNT_MIN, // DXL_COUNT_MIN,
// DXL_CENTER, // DXL_CENTER,
// DXL_COUNT_MAX, // DXL_COUNT_MAX,
// DXL_COUNT_PER_RADIAN); // DXL_COUNT_PER_RADIAN);
} }
bool user_defined_homing() { // true = do not continue with normal Grbl homing bool user_defined_homing() { // true = do not continue with normal Grbl homing
@@ -128,6 +138,8 @@ bool user_defined_homing() { // true = do not continue with normal Grbl homing
// This function is used by Grbl // This function is used by Grbl
void inverse_kinematics(float* position) { void inverse_kinematics(float* position) {
float motor_angles[3]; float motor_angles[3];
read_settings();
delta_calcInverse(position, motor_angles); delta_calcInverse(position, motor_angles);
position[0] = motor_angles[0]; position[0] = motor_angles[0];
position[1] = motor_angles[1]; position[1] = motor_angles[1];
@@ -146,8 +158,10 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
KinematicError status; KinematicError status;
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Start %3.3f %3.3f %3.3f", position[0], position[1], position[2]); read_settings();
//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, "Start %3.3f %3.3f %3.3f", position[0], position[1], position[2]);
// grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Target %3.3f %3.3f %3.3f", target[0], target[1], target[2]);
status = delta_calcInverse(position, motor_angles); status = delta_calcInverse(position, motor_angles);
if (status == KinematicError::OUT_OF_RANGE) { if (status == KinematicError::OUT_OF_RANGE) {
@@ -218,11 +232,13 @@ void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* positio
uint8_t kinematic_limits_check(float* target) { uint8_t kinematic_limits_check(float* target) {
float motor_angles[3]; float motor_angles[3];
read_settings();
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Kin Soft Check %3.3f, %3.3f, %3.3f", target[0], target[1], target[2]); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Kin Soft Check %3.3f, %3.3f, %3.3f", target[0], target[1], target[2]);
KinematicError status = delta_calcInverse(target, motor_angles); KinematicError status = delta_calcInverse(target, motor_angles);
switch(status) { switch (status) {
case KinematicError::OUT_OF_RANGE: case KinematicError::OUT_OF_RANGE:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Kin target out of range"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Kin target out of range");
break; break;
@@ -349,6 +365,8 @@ void forward_kinematics(float* position) {
float calc_fwd[N_AXIS]; float calc_fwd[N_AXIS];
int status; int status;
read_settings();
// convert the system position in steps to radians // convert the system position in steps to radians
float position_radians[N_AXIS]; float position_radians[N_AXIS];
int32_t position_steps[N_AXIS]; // Copy current state of the system position variable int32_t position_steps[N_AXIS]; // Copy current state of the system position variable
@@ -388,6 +406,8 @@ void kinematics_post_homing() {
last_angle[Y_AXIS] = sys_position[Y_AXIS] / axis_settings[Y_AXIS]->steps_per_mm->get(); last_angle[Y_AXIS] = sys_position[Y_AXIS] / axis_settings[Y_AXIS]->steps_per_mm->get();
last_angle[Z_AXIS] = sys_position[Z_AXIS] / axis_settings[Z_AXIS]->steps_per_mm->get(); last_angle[Z_AXIS] = sys_position[Z_AXIS] / axis_settings[Z_AXIS]->steps_per_mm->get();
read_settings();
calc_forward_kinematics(last_angle, last_cartesian); calc_forward_kinematics(last_angle, last_cartesian);
// grbl_msg_sendf(CLIENT_SERIAL, // grbl_msg_sendf(CLIENT_SERIAL,
@@ -412,3 +432,10 @@ void kinematics_post_homing() {
} }
void user_m30() {} void user_m30() {}
void read_settings() {
rf = delta_crank_len->get(); // radius of the fixed side (length of motor cranks)
re = delta_link_len->get(); // radius of end effector side (length of linkages)
f = delta_crank_side_len->get(); // sized of fixed side triangel
e = delta_effector_side_len->get(); // size of end effector side triangle
}

2
Grbl_Esp32/src/GCode.cpp
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@@ -1477,8 +1477,6 @@ Error gc_execute_line(char* line, uint8_t client) {
} }
mc_line_kins(coord_data, pl_data, gc_state.position); mc_line_kins(coord_data, pl_data, gc_state.position);
memcpy(gc_state.position, coord_data, sizeof(gc_state.position)); memcpy(gc_state.position, coord_data, sizeof(gc_state.position));
== == == = mc_line_kins(gc_block.values.ijk, pl_data, gc_state.position);
memcpy(gc_state.position, gc_block.values.ijk, MAX_N_AXIS * sizeof(float));
break; break;
case NonModal::SetHome0: case NonModal::SetHome0:
coords[CoordIndex::G28]->set(gc_state.position); coords[CoordIndex::G28]->set(gc_state.position);

15
Grbl_Esp32/src/Machines/tapster_pro_6P_trinamic.h
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@@ -69,7 +69,7 @@
// === Default settings // === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE #define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set // #define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
#define I2S_OUT_BCK GPIO_NUM_22 #define I2S_OUT_BCK GPIO_NUM_22
#define I2S_OUT_WS GPIO_NUM_17 #define I2S_OUT_WS GPIO_NUM_17
@@ -77,12 +77,6 @@
// ================== CPU MAP ====================== // ================== CPU MAP ======================
#define X_STEPPER_MS3 I2SO(3) // X_CS
#define Y_STEPPER_MS3 I2SO(6) // Y_CS
#define Z_STEPPER_MS3 I2SO(11) // Z_CS
#define STEPPER_RESET GPIO_NUM_19
// Motor Socket #1 // Motor Socket #1
#define X_TRINAMIC_DRIVER 2130 #define X_TRINAMIC_DRIVER 2130
#define X_DISABLE_PIN I2SO(0) #define X_DISABLE_PIN I2SO(0)
@@ -168,6 +162,13 @@
#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION #define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION #define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_X_CURRENT 1.0
#define DEFAULT_X_HOLD_CURRENT 0.5
#define DEFAULT_Y_CURRENT 1.0
#define DEFAULT_Y_HOLD_CURRENT 0.5
#define DEFAULT_Z_CURRENT 1.0
#define DEFAULT_Z_HOLD_CURRENT 0.5
// homing // homing
#define DEFAULT_HOMING_FEED_RATE 25 #define DEFAULT_HOMING_FEED_RATE 25
#define DEFAULT_HOMING_SEEK_RATE 100 #define DEFAULT_HOMING_SEEK_RATE 100

11
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -204,17 +204,6 @@ namespace Motors {
return; return;
} }
float max_travel = axis_settings[_axis_index]->max_travel->get();
float mpos = axis_settings[_axis_index]->home_mpos->get();
if (bit_istrue(homing_dir_mask->get(), bit(_axis_index))) {
_position_min = mpos;
_position_max = mpos + max_travel;
} else {
_position_min = mpos - max_travel;
_position_max = mpos;
}
uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0); uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0);
float hold_i_percent; float hold_i_percent;