3d-print/anadyr-marlin
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Allow SERIAL_ECHOPAIR to take up to 12 pairs (#13311)

Browse Source
This commit is contained in:
Scott Lahteine
2019-03-05 06:46:19 -06:00
committed by GitHub
parent 4771e372a1
commit cfdb38eda4
30 changed files with 474 additions and 611 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
Marlin/src/module/scara.cpp
View File

@@ -45,8 +45,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
// SERIAL_ECHOLNPAIR("homeposition X:", homeposition[X_AXIS], " Y:", homeposition[Y_AXIS]);
/**
* Get Home position SCARA arm angles using inverse kinematics,
@@ -55,8 +54,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
// SERIAL_ECHOLNPAIR("Cartesian X:", cartes[X_AXIS], " Y:", cartes[Y_AXIS]);
current_position[axis] = cartes[axis];
@@ -80,14 +78,15 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
/*
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
SERIAL_ECHOPAIR(" b=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
SERIAL_ECHOLNPAIR(
"SCARA FK Angle a=", a,
" b=", b,
" a_sin=", a_sin,
" a_cos=", a_cos,
" b_sin=", b_sin,
" b_cos=", b_cos
);
SERIAL_ECHOLNPAIR(" cartes (X,Y) = "(cartes[X_AXIS], ", ", cartes[Y_AXIS], ")");
//*/
}
@@ -132,18 +131,12 @@ void inverse_kinematics(const float (&raw)[XYZ]) {
/*
DEBUG_POS("SCARA IK", raw);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
SERIAL_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Phi=", PHI);
//*/
}
void scara_report_positions() {
SERIAL_ECHOPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS));
SERIAL_ECHOLNPAIR(" Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS), " Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
SERIAL_EOL();
}