Merge branch 'deltabot' into Marlin_v1

Marlin/Configuration.h

@@ -63,6 +63,43 @@
 
 #define POWER_SUPPLY 1
 
+
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics
+#define DELTA
+
+// Make delta curves from many straight lines (linear interpolation).
+// This is a trade-off between visible corners (not enough segments)
+// and processor overload (too many expensive sqrt calls).
+#define DELTA_SEGMENTS_PER_SECOND 200
+
+// Center-to-center distance of the holes in the diagonal push rods.
+#define DELTA_DIAGONAL_ROD 250.0 // mm
+
+// Horizontal offset from middle of printer to smooth rod center.
+#define DELTA_SMOOTH_ROD_OFFSET 175.0 // mm
+
+// Horizontal offset of the universal joints on the end effector.
+#define DELTA_EFFECTOR_OFFSET 33.0 // mm
+
+// Horizontal offset of the universal joints on the carriages.
+#define DELTA_CARRIAGE_OFFSET 18.0 // mm
+
+// Effective horizontal distance bridged by diagonal push rods.
+#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
+
+// Effective X/Y positions of the three vertical towers.
+#define SIN_60 0.8660254037844386
+#define COS_60 0.5
+#define DELTA_TOWER1_X -SIN_60*DELTA_RADIUS // front left tower
+#define DELTA_TOWER1_Y -COS_60*DELTA_RADIUS
+#define DELTA_TOWER2_X SIN_60*DELTA_RADIUS // front right tower
+#define DELTA_TOWER2_Y -COS_60*DELTA_RADIUS
+#define DELTA_TOWER3_X 0.0 // back middle tower
+#define DELTA_TOWER3_Y DELTA_RADIUS
+
 //===========================================================================
 //=============================Thermal Settings  ============================
 //===========================================================================
@@ -128,8 +165,8 @@
 // PID settings:
 // Comment the following line to disable PID and enable bang-bang.
 #define PIDTEMP
-#define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
-#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
+#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #ifdef PIDTEMP
   //#define PID_DEBUG // Sends debug data to the serial port.
   //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
@@ -172,9 +209,9 @@
 
 // This sets the max power delived to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
 // all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
-// setting this to anything other than 256 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
 // so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
-#define MAX_BED_POWER 256 // limits duty cycle to bed; 256=full current
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
 
 #ifdef PIDTEMPBED
 //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
@@ -287,9 +324,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 //#define BED_CENTER_AT_0_0  // If defined, the center of the bed is at (X=0, Y=0)
 
 //Manual homing switch locations:
+// For deltabots this means top and center of the cartesian print volume.
 #define MANUAL_X_HOME_POS 0
 #define MANUAL_Y_HOME_POS 0
 #define MANUAL_Z_HOME_POS 0
+//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
 
 //// MOVEMENT SETTINGS
 #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E