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309 lines
10 KiB
309 lines
10 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* scara.cpp
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*/
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#include "../inc/MarlinConfig.h"
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#if IS_SCARA
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#include "scara.h"
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#include "motion.h"
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#include "planner.h"
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#if ENABLED(AXEL_TPARA)
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#include "endstops.h"
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#include "../MarlinCore.h"
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#endif
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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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static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
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/**
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* Morgan SCARA Forward Kinematics. Results in 'cartes'.
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* Maths and first version by QHARLEY.
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* Integrated into Marlin and slightly restructured by Joachim Cerny.
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*/
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void forward_kinematics(const_float_t a, const_float_t 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(SUM_TERN(MP_SCARA, b, a))) * L2,
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b_cos = cos(RADIANS(SUM_TERN(MP_SCARA, b, a))) * L2;
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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_ECHOLNPGM(
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"SCARA FK Angle a=", a,
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" b=", b,
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" a_sin=", a_sin,
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" a_cos=", a_cos,
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" b_sin=", b_sin,
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" b_cos=", b_cos
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);
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DEBUG_ECHOLNPGM(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
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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_ECHOLNPGM_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_ECHOLNPGM_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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* See https://reprap.org/forum/read.php?185,283327
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*
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* Maths and first version by QHARLEY.
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* Integrated into Marlin and slightly restructured by Joachim Cerny.
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*/
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void inverse_kinematics(const xyz_pos_t &raw) {
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float C2, S2, SK1, SK2, THETA, PSI;
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// Translate SCARA to standard XY with scaling factor
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const xy_pos_t spos = raw - scara_offset;
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const float H2 = HYPOT2(spos.x, spos.y);
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if (L1 == L2)
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C2 = H2 / L1_2_2 - 1;
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else
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C2 = (H2 - (L1_2 + L2_2)) / (2.0f * L1 * L2);
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LIMIT(C2, -1, 1);
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S2 = SQRT(1.0f - sq(C2));
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// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
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SK1 = L1 + L2 * C2;
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// Rotated Arm2 gives the distance from Arm1 to Arm2
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SK2 = L2 * S2;
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// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
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THETA = ATAN2(SK1, SK2) - ATAN2(spos.x, spos.y);
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// Angle of Arm2
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PSI = ATAN2(S2, C2);
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delta.set(DEGREES(THETA), DEGREES(SUM_TERN(MORGAN_SCARA, PSI, THETA)), 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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DEBUG_ECHOLNPGM(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Psi=", PSI);
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//*/
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}
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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_ECHOLNPGM("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_ECHOLNPGM_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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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_ECHOLNPGM(" 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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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_ECHOLNPGM_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_ECHOLNPGM_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_t a, const_float_t b, const_float_t 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 - sq(x) - sq(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 = TOOL_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_NUM_AXES(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) {
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const xyz_pos_t spos = raw - robot_offset;
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const float RXY = SQRT(HYPOT2(spos.x, spos.y)),
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RHO2 = NORMSQ(spos.x, spos.y, spos.z),
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//RHO = SQRT(RHO2),
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LSS = L1_2 + L2_2,
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LM = 2.0f * L1 * L2,
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CG = (LSS - RHO2) / LM,
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SG = SQRT(1 - POW(CG, 2)), // Method 2
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K1 = L1 - L2 * CG,
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K2 = L2 * SG,
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// Angle of Body Joint
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THETA = ATAN2(spos.y, spos.x),
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// Angle of Elbow Joint
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//GAMMA = ACOS(CG),
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GAMMA = ATAN2(SG, CG), // Method 2
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// Angle of Shoulder Joint, elevation angle measured from horizontal (r+)
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//PHI = asin(spos.z/RHO) + asin(L2 * sin(GAMMA) / RHO),
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PHI = ATAN2(spos.z, RXY) + ATAN2(K2, K1), // Method 2
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// Elbow motor angle measured from horizontal, same frame as shoulder (r+)
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PSI = PHI + GAMMA;
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delta.set(DEGREES(THETA), DEGREES(PHI), DEGREES(PSI));
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//SERIAL_ECHOLNPGM(" SCARA (x,y,z) ", spos.x , ",", spos.y, ",", spos.z, " Rho=", RHO, " Rho2=", RHO2, " Theta=", THETA, " Phi=", PHI, " Psi=", PSI, " Gamma=", GAMMA);
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}
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#endif
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void scara_report_positions() {
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SERIAL_ECHOLNPGM("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS)
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#if ENABLED(AXEL_TPARA)
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, " Phi:", planner.get_axis_position_degrees(B_AXIS)
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, " Psi:", planner.get_axis_position_degrees(C_AXIS)
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#else
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, " Psi" TERN_(MORGAN_SCARA, "+Theta") ":", planner.get_axis_position_degrees(B_AXIS)
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#endif
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);
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SERIAL_EOL();
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}
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#endif // IS_SCARA
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