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TPARA - 3DOF robot arm IK (#21005)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
Axel
2021-03-03 20:46:32 -03:00
committed by GitHub
parent fd270ddc6c
commit a46e025725
12 changed files with 285 additions and 117 deletions
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10
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -311,7 +311,13 @@ void GcodeSuite::G28() {
TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
#else // NOT DELTA
#elif ENABLED(AXEL_TPARA)
constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA
home_TPARA();
#else
const bool homeZ = parser.seen('Z'),
needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
@ -392,7 +398,7 @@ void GcodeSuite::G28() {
sync_plan_position();
#endif // !DELTA (G28)
#endif
/**
* Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE.

26
Marlin/src/gcode/calibrate/M665.cpp
View File

@ -40,21 +40,21 @@
* X = Alpha (Tower 1) angle trim
* Y = Beta (Tower 2) angle trim
* Z = Gamma (Tower 3) angle trim
* A = Alpha (Tower 1) digonal rod trim
* B = Beta (Tower 2) digonal rod trim
* C = Gamma (Tower 3) digonal rod trim
* A = Alpha (Tower 1) diagonal rod trim
* B = Beta (Tower 2) diagonal rod trim
* C = Gamma (Tower 3) diagonal rod trim
*/
void GcodeSuite::M665() {
if (parser.seen('H')) delta_height = parser.value_linear_units();
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seen('R')) delta_radius = parser.value_linear_units();
if (parser.seen('S')) delta_segments_per_second = parser.value_float();
if (parser.seen('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seen('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seen('Z')) delta_tower_angle_trim.c = parser.value_float();
if (parser.seen('A')) delta_diagonal_rod_trim.a = parser.value_float();
if (parser.seen('B')) delta_diagonal_rod_trim.b = parser.value_float();
if (parser.seen('C')) delta_diagonal_rod_trim.c = parser.value_float();
if (parser.seenval('H')) delta_height = parser.value_linear_units();
if (parser.seenval('L')) delta_diagonal_rod = parser.value_linear_units();
if (parser.seenval('R')) delta_radius = parser.value_linear_units();
if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
if (parser.seenval('X')) delta_tower_angle_trim.a = parser.value_float();
if (parser.seenval('Y')) delta_tower_angle_trim.b = parser.value_float();
if (parser.seenval('Z')) delta_tower_angle_trim.c = parser.value_float();
if (parser.seenval('A')) delta_diagonal_rod_trim.a = parser.value_float();
if (parser.seenval('B')) delta_diagonal_rod_trim.b = parser.value_float();
if (parser.seenval('C')) delta_diagonal_rod_trim.c = parser.value_float();
recalc_delta_settings();
}