TPARA - 3DOF robot arm IK (#21005)
Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
Axel
Scott Lahteine
parent
3c86eb18a5
commit
864d27d460
@ -58,18 +58,13 @@
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*/
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//===========================================================================
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//============================= DELTA Printer ===============================
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//========================== DELTA / SCARA / TPARA ==========================
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//===========================================================================
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// For a Delta printer, start with one of the configuration files in the config/examples/delta directory
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// from https://github.com/MarlinFirmware/Configurations/branches/all and customize for your machine.
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//
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//===========================================================================
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//============================= SCARA Printer ===============================
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//===========================================================================
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// For a SCARA printer, start with one of the configuration files in the config/examples/SCARA directory
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// from https://github.com/MarlinFirmware/Configurations/branches/all and customize for your machine.
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// Download configurations from the link above and customize for your machine.
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// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
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//
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//===========================================================================
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// @section info
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@ -104,6 +104,7 @@
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#define RADIANS(d) ((d)*float(M_PI)/180.0f)
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#define DEGREES(r) ((r)*180.0f/float(M_PI))
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#define HYPOT2(x,y) (sq(x)+sq(y))
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#define NORMSQ(x,y,z) (sq(x)+sq(y)+sq(z))
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#define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
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#define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
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@ -311,7 +311,13 @@ void GcodeSuite::G28() {
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TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
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#else // NOT DELTA
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#elif ENABLED(AXEL_TPARA)
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constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA
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home_TPARA();
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#else
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const bool homeZ = parser.seen('Z'),
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needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
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@ -392,7 +398,7 @@ void GcodeSuite::G28() {
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sync_plan_position();
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#endif // !DELTA (G28)
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#endif
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/**
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* Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE.
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@ -40,21 +40,21 @@
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* X = Alpha (Tower 1) angle trim
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* Y = Beta (Tower 2) angle trim
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* Z = Gamma (Tower 3) angle trim
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* A = Alpha (Tower 1) digonal rod trim
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* B = Beta (Tower 2) digonal rod trim
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* C = Gamma (Tower 3) digonal rod trim
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* A = Alpha (Tower 1) diagonal rod trim
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* B = Beta (Tower 2) diagonal rod trim
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* C = Gamma (Tower 3) diagonal rod trim
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*/
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void GcodeSuite::M665() {
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if (parser.seen('H')) delta_height = parser.value_linear_units();
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if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
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if (parser.seen('R')) delta_radius = parser.value_linear_units();
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if (parser.seen('S')) delta_segments_per_second = parser.value_float();
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if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
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if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
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if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
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if (parser.seen('A')) delta_diagonal_rod_trim.a = parser.value_float();
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if (parser.seen('B')) delta_diagonal_rod_trim.b = parser.value_float();
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if (parser.seen('C')) delta_diagonal_rod_trim.c = parser.value_float();
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if (parser.seenval('H')) delta_height = parser.value_linear_units();
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if (parser.seenval('L')) delta_diagonal_rod = parser.value_linear_units();
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if (parser.seenval('R')) delta_radius = parser.value_linear_units();
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if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
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if (parser.seenval('X')) delta_tower_angle_trim.a = parser.value_float();
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if (parser.seenval('Y')) delta_tower_angle_trim.b = parser.value_float();
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if (parser.seenval('Z')) delta_tower_angle_trim.c = parser.value_float();
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if (parser.seenval('A')) delta_diagonal_rod_trim.a = parser.value_float();
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if (parser.seenval('B')) delta_diagonal_rod_trim.b = parser.value_float();
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if (parser.seenval('C')) delta_diagonal_rod_trim.c = parser.value_float();
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recalc_delta_settings();
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}
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@ -924,7 +924,7 @@
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#define NORMAL_AXIS Z_AXIS
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#endif
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#if ENABLED(MORGAN_SCARA)
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#if EITHER(MORGAN_SCARA, AXEL_TPARA)
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#define IS_SCARA 1
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#define IS_KINEMATIC 1
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#elif ENABLED(DELTA)
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@ -143,7 +143,9 @@
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*/
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#if IS_SCARA
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#undef SLOWDOWN
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#if DISABLED(AXEL_TPARA)
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#define QUICK_HOME
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#endif
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#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
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#endif
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@ -1227,8 +1227,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
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/**
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* Allow only one kinematic type to be defined
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*/
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#if MANY(DELTA, MORGAN_SCARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY)
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#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
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#if MANY(DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY)
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#error "Please enable only one of DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
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#endif
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/**
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@ -267,11 +267,15 @@ void get_cartesian_from_steppers() {
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#else
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#if IS_SCARA
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forward_kinematics_SCARA(
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planner.get_axis_position_degrees(A_AXIS),
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planner.get_axis_position_degrees(B_AXIS)
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planner.get_axis_position_degrees(A_AXIS)
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, planner.get_axis_position_degrees(B_AXIS)
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#if ENABLED(AXEL_TPARA)
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, planner.get_axis_position_degrees(C_AXIS)
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#endif
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);
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#else
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cartes.set(planner.get_axis_position_mm(X_AXIS), planner.get_axis_position_mm(Y_AXIS));
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cartes.x = planner.get_axis_position_mm(X_AXIS);
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cartes.y = planner.get_axis_position_mm(Y_AXIS);
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#endif
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cartes.z = planner.get_axis_position_mm(Z_AXIS);
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#endif
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@ -1340,7 +1344,7 @@ void prepare_line_to_destination() {
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TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
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}
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#if IS_SCARA
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#if EITHER(MORGAN_SCARA, MP_SCARA)
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// Tell the planner the axis is at 0
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current_position[axis] = 0;
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sync_plan_position();
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@ -1490,7 +1494,7 @@ void prepare_line_to_destination() {
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void homeaxis(const AxisEnum axis) {
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#if IS_SCARA
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#if EITHER(MORGAN_SCARA, MP_SCARA)
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// Only Z homing (with probe) is permitted
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if (axis != Z_AXIS) { BUZZ(100, 880); return; }
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#else
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@ -1732,7 +1736,8 @@ void prepare_line_to_destination() {
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TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:)
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stepper.set_separate_multi_axis(false);
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}
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#endif
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#endif // HAS_EXTRA_ENDSTOPS
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#ifdef TMC_HOME_PHASE
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// move back to homing phase if configured and capable
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@ -1839,7 +1844,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
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}
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#endif
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#if ENABLED(MORGAN_SCARA)
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#if EITHER(MORGAN_SCARA, AXEL_TPARA)
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scara_set_axis_is_at_home(axis);
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#elif ENABLED(DELTA)
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current_position[axis] = (axis == Z_AXIS) ? delta_height - TERN0(HAS_BED_PROBE, probe.offset.z) : base_home_pos(axis);
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@ -395,8 +395,21 @@ FORCE_INLINE bool all_axes_trusted() { return xyz_bits ==
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// Return true if the given point is within the printable area
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inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) {
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#if ENABLED(DELTA)
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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#elif ENABLED(AXEL_TPARA)
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const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
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return (
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R2 <= sq(L1 + L2) - inset
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#if MIDDLE_DEAD_ZONE_R > 0
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#elif IS_SCARA
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const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
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return (
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R2 <= sq(L1 + L2) - inset
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@ -404,6 +417,7 @@ FORCE_INLINE bool all_axes_trusted() { return xyz_bits ==
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&& R2 >= sq(float(MIDDLE_DEAD_ZONE_R))
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#endif
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);
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#endif
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}
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@ -32,26 +32,29 @@
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#include "motion.h"
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#include "planner.h"
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float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
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#if ENABLED(AXEL_TPARA)
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// For homing, as in delta
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#include "planner.h"
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#include "endstops.h"
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#include "../lcd/marlinui.h"
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#include "../MarlinCore.h"
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#endif
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float delta_segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND);
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void scara_set_axis_is_at_home(const AxisEnum axis) {
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if (axis == Z_AXIS)
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current_position.z = Z_HOME_POS;
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else {
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/**
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* SCARA homes XY at the same time
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*/
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xyz_pos_t homeposition;
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LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
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#if ENABLED(MORGAN_SCARA)
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// MORGAN_SCARA uses arm angles for AB home position
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//DEBUG_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
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inverse_kinematics(homeposition);
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forward_kinematics_SCARA(delta.a, delta.b);
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current_position[axis] = cartes[axis];
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#else
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#elif ENABLED(MP_SCARA)
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// MP_SCARA uses a Cartesian XY home position
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//DEBUG_ECHOPGM("homeposition");
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//DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y);
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@ -59,6 +62,12 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
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delta.b = SCARA_OFFSET_THETA2;
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forward_kinematics_SCARA(delta.a, delta.b);
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current_position[axis] = cartes[axis];
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#elif ENABLED(AXEL_TPARA)
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//DEBUG_ECHOPGM("homeposition");
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//DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y, SP_Z_LBL, homeposition.z);
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inverse_kinematics(homeposition);
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forward_kinematics_TPARA(delta.a, delta.b, delta.c);
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current_position[axis] = cartes[axis];
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#endif
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//DEBUG_ECHOPGM("Cartesian");
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@ -67,6 +76,8 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
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}
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}
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#if EITHER(MORGAN_SCARA, MP_SCARA)
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static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
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/**
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@ -75,14 +86,13 @@ static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
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* Integrated into Marlin and slightly restructured by Joachim Cerny.
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*/
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void forward_kinematics_SCARA(const float &a, const float &b) {
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const float a_sin = sin(RADIANS(a)) * L1,
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a_cos = cos(RADIANS(a)) * L1,
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b_sin = sin(RADIANS(b + TERN0(MP_SCARA, a))) * L2,
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b_cos = cos(RADIANS(b + TERN0(MP_SCARA, a))) * L2;
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cartes.set(a_cos + b_cos + scara_offset.x, // theta
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a_sin + b_sin + scara_offset.y); // phi
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cartes.x = a_cos + b_cos + scara_offset.x; // theta
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cartes.y = a_sin + b_sin + scara_offset.y; // phi
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/*
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DEBUG_ECHOLNPAIR(
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@ -98,7 +108,7 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
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}
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/**
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* SCARA Inverse Kinematics. Results in 'delta'.
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* Morgan SCARA Inverse Kinematics. Results are stored in 'delta'.
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*
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* See https://reprap.org/forum/read.php?185,283327
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*
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@ -142,10 +152,134 @@ void inverse_kinematics(const xyz_pos_t &raw) {
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//*/
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}
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#elif ENABLED(MP_SCARA)
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void inverse_kinematics(const xyz_pos_t &raw) {
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const float x = raw.x, y = raw.y, c = HYPOT(x, y),
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THETA3 = ATAN2(y, x),
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THETA1 = THETA3 + ACOS((sq(c) + sq(L1) - sq(L2)) / (2.0f * c * L1)),
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THETA2 = THETA3 - ACOS((sq(c) + sq(L2) - sq(L1)) / (2.0f * c * L2));
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delta.set(DEGREES(THETA1), DEGREES(THETA2), raw.z);
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/*
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DEBUG_POS("SCARA IK", raw);
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DEBUG_POS("SCARA IK", delta);
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SERIAL_ECHOLNPAIR(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2);
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//*/
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}
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#elif ENABLED(AXEL_TPARA)
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static constexpr xyz_pos_t robot_offset = { TPARA_OFFSET_X, TPARA_OFFSET_Y, TPARA_OFFSET_Z };
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// Convert ABC inputs in degrees to XYZ outputs in mm
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void forward_kinematics_TPARA(const float &a, const float &b, const float &c) {
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const float w = c - b,
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r = L1 * cos(RADIANS(b)) + L2 * sin(RADIANS(w - (90 - b))),
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x = r * cos(RADIANS(a)),
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y = r * sin(RADIANS(a)),
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rho2 = L1_2 + L2_2 - 2.0f * L1 * L2 * cos(RADIANS(w));
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cartes = robot_offset + xyz_pos_t({ x, y, SQRT(rho2 - x * x - y * y) });
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}
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// Home YZ together, then X (or all at once). Based on quick_home_xy & home_delta
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void home_TPARA() {
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// Init the current position of all carriages to 0,0,0
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current_position.reset();
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destination.reset();
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sync_plan_position();
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
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TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
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TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
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#endif
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// const int x_axis_home_dir = x_home_dir(active_extruder);
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// const xy_pos_t pos { max_length(X_AXIS) , max_length(Y_AXIS) };
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// const float mlz = max_length(X_AXIS),
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// Move all carriages together linearly until an endstop is hit.
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//do_blocking_move_to_xy_z(pos, mlz, homing_feedrate(Z_AXIS));
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current_position.x = 0 ;
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current_position.y = 0 ;
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current_position.z = max_length(Z_AXIS) ;
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line_to_current_position(homing_feedrate(Z_AXIS));
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planner.synchronize();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
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TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
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TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
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#endif
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endstops.validate_homing_move();
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// At least one motor has reached its endstop.
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// Now re-home each motor separately.
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homeaxis(A_AXIS);
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homeaxis(C_AXIS);
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homeaxis(B_AXIS);
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// Set all carriages to their home positions
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// Do this here all at once for Delta, because
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// XYZ isn't ABC. Applying this per-tower would
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// give the impression that they are the same.
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LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
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sync_plan_position();
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}
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void inverse_kinematics(const xyz_pos_t &raw) {
|
||||
const xyz_pos_t spos = raw - robot_offset;
|
||||
|
||||
const float RXY = SQRT(HYPOT2(spos.x, spos.y)),
|
||||
RHO2 = NORMSQ(spos.x, spos.y, spos.z),
|
||||
//RHO = SQRT(RHO2),
|
||||
LSS = L1_2 + L2_2,
|
||||
LM = 2.0f * L1 * L2,
|
||||
|
||||
CG = (LSS - RHO2) / LM,
|
||||
SG = SQRT(1 - POW(CG, 2)), // Method 2
|
||||
K1 = L1 - L2 * CG,
|
||||
K2 = L2 * SG,
|
||||
|
||||
// Angle of Body Joint
|
||||
THETA = ATAN2(spos.y, spos.x),
|
||||
|
||||
// Angle of Elbow Joint
|
||||
//GAMMA = ACOS(CG),
|
||||
GAMMA = ATAN2(SG, CG), // Method 2
|
||||
|
||||
// Angle of Shoulder Joint, elevation angle measured from horizontal (r+)
|
||||
//PHI = asin(spos.z/RHO) + asin(L2 * sin(GAMMA) / RHO),
|
||||
PHI = ATAN2(spos.z, RXY) + ATAN2(K2, K1), // Method 2
|
||||
|
||||
// Elbow motor angle measured from horizontal, same frame as shoulder (r+)
|
||||
PSI = PHI + GAMMA;
|
||||
|
||||
delta.set(DEGREES(THETA), DEGREES(PHI), DEGREES(PSI));
|
||||
|
||||
//SERIAL_ECHOLNPAIR(" SCARA (x,y,z) ", spos.x , ",", spos.y, ",", spos.z, " Rho=", RHO, " Rho2=", RHO2, " Theta=", THETA, " Phi=", PHI, " Psi=", PSI, " Gamma=", GAMMA);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
void scara_report_positions() {
|
||||
SERIAL_ECHOLNPAIR(
|
||||
"SCARA Theta:", planner.get_axis_position_degrees(A_AXIS),
|
||||
" Psi" TERN_(MORGAN_SCARA, "+Theta") ":", planner.get_axis_position_degrees(B_AXIS)
|
||||
SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS)
|
||||
#if ENABLED(AXEL_TPARA)
|
||||
, " Phi:", planner.get_axis_position_degrees(B_AXIS)
|
||||
, " Psi:", planner.get_axis_position_degrees(C_AXIS)
|
||||
#else
|
||||
, " Psi" TERN_(MORGAN_SCARA, "+Theta") ":", planner.get_axis_position_degrees(B_AXIS)
|
||||
#endif
|
||||
);
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
@ -29,14 +29,25 @@
|
||||
|
||||
extern float delta_segments_per_second;
|
||||
|
||||
// Float constants for SCARA calculations
|
||||
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
|
||||
#if ENABLED(AXEL_TPARA)
|
||||
|
||||
float constexpr L1 = TPARA_LINKAGE_1, L2 = TPARA_LINKAGE_2, // Float constants for Robot arm calculations
|
||||
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
|
||||
L2_2 = sq(float(L2));
|
||||
|
||||
void scara_set_axis_is_at_home(const AxisEnum axis);
|
||||
void forward_kinematics_TPARA(const float &a, const float &b, const float &c);
|
||||
void home_TPARA();
|
||||
|
||||
#else
|
||||
|
||||
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, // Float constants for SCARA calculations
|
||||
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
|
||||
L2_2 = sq(float(L2));
|
||||
|
||||
void inverse_kinematics(const xyz_pos_t &raw);
|
||||
void forward_kinematics_SCARA(const float &a, const float &b);
|
||||
|
||||
#endif
|
||||
|
||||
void inverse_kinematics(const xyz_pos_t &raw);
|
||||
void scara_set_axis_is_at_home(const AxisEnum axis);
|
||||
void scara_report_positions();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user