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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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16
Marlin/src/module/scara.cpp
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@@ -36,14 +36,14 @@ float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
void scara_set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS)
current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS);
current_position[Z_AXIS] = Z_HOME_POS;
else {
/**
* SCARA homes XY at the same time
*/
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
@@ -58,7 +58,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
current_position[axis] = cartes[axis];
/**
* SCARA home positions are based on configuration since the actual
@@ -104,12 +104,12 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void inverse_kinematics(const float logical[XYZ]) {
void inverse_kinematics(const float raw[XYZ]) {
static float C2, S2, SK1, SK2, THETA, PSI;
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
@@ -132,10 +132,10 @@ void inverse_kinematics(const float logical[XYZ]) {
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = logical[Z_AXIS];
delta[C_AXIS] = raw[Z_AXIS];
/*
DEBUG_POS("SCARA IK", logical);
DEBUG_POS("SCARA IK", raw);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);