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Updated Basic Kinematics (markdown)

bdring
2021-02-28 07:30:17 -06:00
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Basic-Kinematics.md

@@ -22,10 +22,6 @@ While you are converting to a new system, the tool is still moving through mater
Typically the position is reported in the new system. On a polar machine, for example, it will report the current radius and degrees. This can be confusing to some people. If they send it to X10, Y10, it will report X14.14 Y 45. To address this there is a forward kinematics function that can be added. Put `#define FWD_KINEMATICS_REPORTING` in your machine definition file and define a `void forward_kinematics(float *position)` function in same file you put your inverse kinematics function. See [polar_coaster.cpp](https://github.com/bdring/Grbl_Esp32/blob/master/Grbl_Esp32/Custom/polar_coaster.cpp) for an example. This currently only works with WPos reporting. Set $10=2 to get that reporting mode.
### Limitations
Right now all gcode must be G0 and G1 lines. Arcs are not supported. Many CAM programs do this anyway or at least have a method to output only lines.
## CoreXY
<img src="http://www.buildlog.net/blog/wp-content/uploads/2020/12/corexy.jpg" width="300">