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@ -37,46 +37,7 @@ |
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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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#if ENABLED(MORGAN_SCARA) |
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// MORGAN_SCARA uses arm angles for AB home position
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ab_float_t homeposition = { SCARA_OFFSET_THETA1, SCARA_OFFSET_THETA2 }; |
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//DEBUG_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
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#elif ENABLED(MP_SCARA) |
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// MP_SCARA uses a Cartesian XY home position
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xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; |
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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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#elif ENABLED(AXEL_TPARA) |
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xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; |
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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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#endif |
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#if ENABLED(MORGAN_SCARA) |
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delta = homeposition; |
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#else |
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inverse_kinematics(homeposition); |
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#endif |
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#if EITHER(MORGAN_SCARA, MP_SCARA) |
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forward_kinematics(delta.a, delta.b); |
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#elif ENABLED(AXEL_TPARA) |
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forward_kinematics(delta.a, delta.b, delta.c); |
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#endif |
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current_position[axis] = cartes[axis]; |
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//DEBUG_ECHOPGM("Cartesian");
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//DEBUG_ECHOLNPAIR_P(SP_X_LBL, current_position.x, SP_Y_LBL, current_position.y);
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update_software_endstops(axis); |
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} |
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} |
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float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND); |
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#if EITHER(MORGAN_SCARA, MP_SCARA) |
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@ -109,6 +70,27 @@ void scara_set_axis_is_at_home(const AxisEnum axis) { |
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//*/
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} |
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#endif |
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#if ENABLED(MORGAN_SCARA) |
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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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// MORGAN_SCARA uses a Cartesian XY home position
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xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; |
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//DEBUG_ECHOLNPAIR_P(PSTR("homeposition X"), homeposition.x, SP_Y_LBL, homeposition.y);
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delta = homeposition; |
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forward_kinematics(delta.a, delta.b); |
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current_position[axis] = cartes[axis]; |
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//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
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update_software_endstops(axis); |
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} |
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} |
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/**
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* Morgan SCARA Inverse Kinematics. Results are stored in 'delta'. |
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* |
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@ -156,6 +138,29 @@ void scara_set_axis_is_at_home(const AxisEnum axis) { |
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#elif ENABLED(MP_SCARA) |
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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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// MP_SCARA uses arm angles for AB home position
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#ifndef SCARA_OFFSET_THETA1 |
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#define SCARA_OFFSET_THETA1 12 // degrees
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#endif |
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#ifndef SCARA_OFFSET_THETA2 |
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#define SCARA_OFFSET_THETA2 131 // degrees
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#endif |
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ab_float_t homeposition = { SCARA_OFFSET_THETA1, SCARA_OFFSET_THETA2 }; |
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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(delta.a, delta.b); |
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current_position[axis] = cartes[axis]; |
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//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
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update_software_endstops(axis); |
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} |
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} |
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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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@ -175,6 +180,22 @@ void scara_set_axis_is_at_home(const AxisEnum axis) { |
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static constexpr xyz_pos_t robot_offset = { TPARA_OFFSET_X, TPARA_OFFSET_Y, TPARA_OFFSET_Z }; |
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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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xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; |
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//DEBUG_ECHOLNPAIR_P(PSTR("homeposition X"), 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(delta.a, delta.b, delta.c); |
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current_position[axis] = cartes[axis]; |
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//DEBUG_ECHOLNPAIR_P(PSTR("Cartesian X"), current_position.x, SP_Y_LBL, current_position.y);
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update_software_endstops(axis); |
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} |
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} |
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// Convert ABC inputs in degrees to XYZ outputs in mm
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void forward_kinematics(const float &a, const float &b, const float &c) { |
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const float w = c - b, |
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