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This commit is contained in:
bdring
2020-10-01 17:39:52 -05:00
parent ec44479f00
commit df9e4d95cc
4 changed files with 173 additions and 18 deletions
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34
Grbl_Esp32/src/Limits.cpp
View File

@@ -330,27 +330,29 @@ void limits_init() {
} else {
detachInterrupt(pin);
}
/*
// Change to do this once. limits_init() happens often
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%c%s Axis limit switch on pin %s",
report_get_axis_letter(axis),
gang_index ? "2" : " ",
pinName(pin).c_str());
*/
if (limit_sw_queue == NULL) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%c%s Axis limit switch on pin %s",
report_get_axis_letter(axis),
gang_index ? "2" : " ",
pinName(pin).c_str());
}
}
}
}
// setup task used for debouncing
limit_sw_queue = xQueueCreate(10, sizeof(int));
xTaskCreate(limitCheckTask,
"limitCheckTask",
2048,
NULL,
5, // priority
NULL);
if (limit_sw_queue == NULL) {
limit_sw_queue = xQueueCreate(10, sizeof(int));
xTaskCreate(limitCheckTask,
"limitCheckTask",
2048,
NULL,
5, // priority
NULL);
}
}
// Disables hard limits.

2
Grbl_Esp32/src/Machine.h
View File

@@ -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/tapster_pro.h"
# include "Machines/tapster_pro_stepstick.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

153
Grbl_Esp32/src/Machines/tapster_pro_stepstick.h Normal file
View File

@@ -0,0 +1,153 @@
#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 (StepStick)"
#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
/*
// enable these special machine functions to be called from the main program
#define USE_KINEMATICS // there are kinematic equations for this machine
#define FWD_KINEMATICS_REPORTING // report in cartesian
#define USE_RMT_STEPS // Use the RMT periferal to generate step pulses
#define USE_TRINAMIC // some Trinamic motors are used on this machine
#define USE_MACHINE_TRINAMIC_INIT // there is a machine specific setup for the drivers
#define USE_MACHINE_INIT // There is some custom initialization for this machine
#define SEGMENT_LENGTH 0.5 // segment length in mm
#define KIN_ANGLE_CALC_OK 0
#define KIN_ANGLE_ERROR -1
#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
#define HOMING_CURRENT_REDUCTION 1.0
*/
#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
// === Special Features
// I2S (steppers & other output-only pins)
#define USE_I2S_OUT
#define USE_I2S_STEPS
//#define DEFAULT_STEPPER ST_I2S_STATIC
// === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
#define I2S_OUT_BCK GPIO_NUM_22
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21
// ================== 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
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
#define Y_DISABLE_PIN I2SO(7)
// Motor Socket #3
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
#define X_LIMIT_PIN GPIO_NUM_36
#define Y_LIMIT_PIN GPIO_NUM_39
#define Z_LIMIT_PIN GPIO_NUM_34
// ================= defaults ===========================
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
#define DEFAULT_X_MICROSTEPS 32
#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 SPINDLE_TYPE SpindleType::NONE

2
Grbl_Esp32/src/Spindles/10vSpindle.cpp
View File

@@ -44,7 +44,7 @@ namespace Spindles {
#endif
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: BESC output pin not defined");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: Spindle output pin not defined");
return; // We cannot continue without the output pin
}