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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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2
Marlin/src/inc/Conditionals_LCD.h
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@ -924,7 +924,7 @@
#define NORMAL_AXIS Z_AXIS
#endif
#if ENABLED(MORGAN_SCARA)
#if EITHER(MORGAN_SCARA, AXEL_TPARA)
#define IS_SCARA 1
#define IS_KINEMATIC 1
#elif ENABLED(DELTA)

4
Marlin/src/inc/Conditionals_post.h
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@ -143,7 +143,9 @@
*/
#if IS_SCARA
#undef SLOWDOWN
#define QUICK_HOME
#if DISABLED(AXEL_TPARA)
#define QUICK_HOME
#endif
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif

4
Marlin/src/inc/SanityCheck.h
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@ -1227,8 +1227,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Allow only one kinematic type to be defined
*/
#if MANY(DELTA, MORGAN_SCARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY)
#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
#if MANY(DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY)
#error "Please enable only one of DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
#endif
/**