mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-08-30 17:49:56 +02:00
Updates to polar coaster. See PR 299 (canceled) for details
This commit is contained in:
bdring
@@ -462,136 +462,8 @@
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#endif
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#ifdef CPU_MAP_POLAR_COASTER // The Buildlog.net pen polar coaster controller V1
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#define CPU_MAP_NAME "CPU_MAP_POLAR_COASTER"
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#define USE_KINEMATICS
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#define FWD_KINEMATICS_REPORTING // report in cartesian
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#include "polar_coaster.h"
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#define USE_RMT_STEPS
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#define X_STEP_PIN GPIO_NUM_15
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#define X_RMT_CHANNEL 0
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#define Y_STEP_PIN GPIO_NUM_2
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#define Y_RMT_CHANNEL 1
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#define X_DIRECTION_PIN GPIO_NUM_25
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#define Y_DIRECTION_PIN GPIO_NUM_26
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#define STEPPERS_DISABLE_PIN GPIO_NUM_17
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#ifndef USE_SERVO_AXES // maybe set in config.h
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#define USE_SERVO_AXES
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#endif
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#define SERVO_Z_PIN GPIO_NUM_16
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#define SERVO_Z_CHANNEL_NUM 5
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#define SERVO_Z_RANGE_MIN 0.0
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#define SERVO_Z_RANGE_MAX 5.0
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#define SERVO_Z_HOMING_TYPE SERVO_HOMING_TARGET // during homing it will instantly move to a target value
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#define SERVO_Z_HOME_POS SERVO_Z_RANGE_MAX // move to max during homing
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#define SERVO_Z_MPOS false // will not use mpos, uses work coordinates
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#define X_LIMIT_PIN GPIO_NUM_4
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#define LIMIT_MASK B1
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#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
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#undef IGNORE_CONTROL_PINS
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#endif
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#ifndef ENABLE_CONTROL_SW_DEBOUNCE
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#define ENABLE_CONTROL_SW_DEBOUNCE
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#endif
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#define MACRO_BUTTON_0_PIN GPIO_NUM_13
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#define MACRO_BUTTON_1_PIN GPIO_NUM_12
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#define MACRO_BUTTON_2_PIN GPIO_NUM_14
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// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
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// use a virtual spindle. Do not comment out the other parameters for the spindle.
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//#define SPINDLE_PWM_PIN GPIO_NUM_17
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#define SPINDLE_PWM_CHANNEL 0
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// PWM Generator is based on 80,000,000 Hz counter
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// Therefor the freq determines the resolution
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// 80,000,000 / freq = max resolution
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// For 5000 that is 80,000,000 / 5000 = 16000
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// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
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//#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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//#define USE_PEN_SERVO
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//#define SERVO_PEN_PIN GPIO_NUM_16
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// redefine some stuff from config.h
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#ifdef HOMING_CYCLE_0
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#undef HOMING_CYCLE_0
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#endif
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#define HOMING_CYCLE_0 (1<<X_AXIS) // this 'bot only homes the X axis
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#ifdef HOMING_CYCLE_1
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#undef HOMING_CYCLE_1
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#endif
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#ifdef HOMING_CYCLE_2
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#undef HOMING_CYCLE_2
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#endif
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// defaults
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#define DEFAULT_STEP_PULSE_MICROSECONDS 3
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on
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#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
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#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
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#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
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#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
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#define DEFAULT_INVERT_PROBE_PIN 0 // boolean
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#define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
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#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
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#define DEFAULT_ARC_TOLERANCE 0.002 // mm
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 1
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
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#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 3.0 // mm
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#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
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#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
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#define DEFAULT_LASER_MODE 0 // false
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#define DEFAULT_X_STEPS_PER_MM 200.0
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#define DEFAULT_Y_STEPS_PER_MM 71.111
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#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
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#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 15000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 3000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION (50.0*60*60)
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#define DEFAULT_X_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode
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#ifdef CPU_MAP_POLAR_COASTER // The Buildlog.net pen polar coaster controller V1
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#include "polar_coaster.h"
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#endif
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#ifdef CPU_MAP_SERVO_AXIS // The Buildlog.net pen laser controller V1
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@@ -20,7 +20,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "1.1f"
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#define GRBL_VERSION_BUILD "20191113"
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#define GRBL_VERSION_BUILD "20191202"
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//#include <sdkconfig.h>
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#include <Arduino.h>
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@@ -240,9 +240,10 @@ void mc_homing_cycle(uint8_t cycle_mask)
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// This give kinematics a chance to do something before normal homing
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// if it returns true, the homing is canceled.
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#ifdef USE_KINEMATICS
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if (!kinematics_homing(cycle_mask))
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return;
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#ifdef USE_KINEMATICS
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if (kinematics_pre_homing(cycle_mask)) {
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return;
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}
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#endif
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// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
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@@ -330,6 +331,11 @@ void mc_homing_cycle(uint8_t cycle_mask)
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gc_sync_position();
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plan_sync_position();
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#ifdef USE_KINEMATICS
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// This give kinematics a chance to do something after normal homing
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kinematics_post_homing();
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#endif
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// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
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limits_init();
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}
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@@ -53,18 +53,27 @@
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#ifdef CPU_MAP_POLAR_COASTER
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#ifdef USE_KINEMATICS
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static float last_angle = 0;
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static float last_radius = 0;
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// this get called before homing
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// return true to complete normal home
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// return false to exit normal homing
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bool kinematics_homing(uint8_t cycle_mask)
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{
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// return false to complete normal home
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// return true to exit normal homing
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bool kinematics_pre_homing(uint8_t cycle_mask) {
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// cycle mask not used for polar coaster
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// zero the axes that are not homed
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sys_position[Y_AXIS] = 0.0f;
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sys_position[Z_AXIS] = 0.0f;
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sys_position[Z_AXIS] = SERVO_Z_RANGE_MAX * settings.steps_per_mm[Z_AXIS]; // Move pen up.
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return true; // finish normal homing cycle
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return false; // finish normal homing cycle
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}
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void kinematics_post_homing() {
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// sync the X axis (do not need sync but make it for the fail safe)
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last_radius = sys_position[X_AXIS];
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// reset the internal angle value
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last_angle = 0;
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}
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/*
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@@ -80,8 +89,8 @@ bool kinematics_homing(uint8_t cycle_mask)
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*/
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void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position)
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{
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static float last_angle = 0;
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static float last_radius = 0;
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//static float last_angle = 0;
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//static float last_radius = 0;
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float dx, dy, dz; // distances in each cartesian axis
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float p_dx, p_dy, p_dz; // distances in each polar axis
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@@ -279,5 +288,13 @@ void user_defined_macro(uint8_t index)
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break;
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}
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}
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// handle the M30 command
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void user_m30() {
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char gcode_line[20];
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sprintf(gcode_line, "G53G0X-%3.2f\r", settings.homing_pulloff); // go to the homing pulloff location to move pen out of the way
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inputBuffer.push(gcode_line);
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}
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#endif
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@@ -23,17 +23,125 @@
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#define POLAR_AXIS 1
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#define SEGMENT_LENGTH 0.5 // segment length in mm
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#define USE_KINEMATICS
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#define FWD_KINEMATICS_REPORTING // report in cartesian
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#define USE_M30
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// ============= Begin CPU MAP ================
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#define CPU_MAP_NAME "CPU_MAP_POLAR_COASTER"
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#define USE_RMT_STEPS
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#define X_STEP_PIN GPIO_NUM_15
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#define X_RMT_CHANNEL 0
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#define Y_STEP_PIN GPIO_NUM_2
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#define Y_RMT_CHANNEL 1
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#define X_DIRECTION_PIN GPIO_NUM_25
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#define Y_DIRECTION_PIN GPIO_NUM_26
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#define STEPPERS_DISABLE_PIN GPIO_NUM_17
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#ifndef USE_SERVO_AXES // maybe set in config.h
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#define USE_SERVO_AXES
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#endif
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#define SERVO_Z_PIN GPIO_NUM_16
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#define SERVO_Z_CHANNEL_NUM 5
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#define SERVO_Z_RANGE_MIN 0.0
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#define SERVO_Z_RANGE_MAX 5.0
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#define SERVO_Z_HOMING_TYPE SERVO_HOMING_TARGET // during homing it will instantly move to a target value
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#define SERVO_Z_HOME_POS SERVO_Z_RANGE_MAX // move to max during homing
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#define SERVO_Z_MPOS false // will not use mpos, uses work coordinates
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#define X_LIMIT_PIN GPIO_NUM_4
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#define LIMIT_MASK B1
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#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
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#undef IGNORE_CONTROL_PINS
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#endif
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#ifndef ENABLE_CONTROL_SW_DEBOUNCE
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#define ENABLE_CONTROL_SW_DEBOUNCE
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#endif
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#define MACRO_BUTTON_0_PIN GPIO_NUM_13
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#define MACRO_BUTTON_1_PIN GPIO_NUM_12
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#define MACRO_BUTTON_2_PIN GPIO_NUM_14
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// redefine some stuff from config.h
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#ifdef HOMING_CYCLE_0
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#undef HOMING_CYCLE_0
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#endif
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#define HOMING_CYCLE_0 (1<<X_AXIS) // this 'bot only homes the X axis
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#ifdef HOMING_CYCLE_1
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#undef HOMING_CYCLE_1
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#endif
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#ifdef HOMING_CYCLE_2
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#undef HOMING_CYCLE_2
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#endif
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// ============= End CPU MAP ==================
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// ============= Begin Default Settings ================
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#define DEFAULT_STEP_PULSE_MICROSECONDS 3
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on
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#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
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#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
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#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
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#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
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#define DEFAULT_INVERT_PROBE_PIN 0 // boolean
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#define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
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#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
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#define DEFAULT_ARC_TOLERANCE 0.002 // mm
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 1
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir Z, negative X,Y
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#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 3.0 // mm
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#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
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#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
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#define DEFAULT_LASER_MODE 0 // false
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#define DEFAULT_X_STEPS_PER_MM 200.0
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#define DEFAULT_Y_STEPS_PER_MM 71.111
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#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
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#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 15000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 3000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION (50.0*60*60)
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#define DEFAULT_X_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode
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// ============= End Default Settings ==================
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#ifndef kinematics_h
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#define kinematics_h
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#include "grbl.h"
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bool kinematics_homing(uint8_t cycle_mask);
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bool kinematics_pre_homing(uint8_t cycle_mask);
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void kinematics_post_homing();
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void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position);
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void calc_polar(float *target_xyz, float *polar, float last_angle);
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void user_defined_macro(uint8_t index);
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void forward_kinematics(float *position);
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void user_m30();
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#endif
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Block a user