bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

TPARA - 3DOF robot arm IK (#21005)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

19
Marlin/src/module/motion.cpp
View File

@ -267,11 +267,15 @@ void get_cartesian_from_steppers() {
#else
#if IS_SCARA
forward_kinematics_SCARA(
planner.get_axis_position_degrees(A_AXIS),
planner.get_axis_position_degrees(B_AXIS)
planner.get_axis_position_degrees(A_AXIS)
, planner.get_axis_position_degrees(B_AXIS)
#if ENABLED(AXEL_TPARA)
, planner.get_axis_position_degrees(C_AXIS)
#endif
);
#else
cartes.set(planner.get_axis_position_mm(X_AXIS), planner.get_axis_position_mm(Y_AXIS));
cartes.x = planner.get_axis_position_mm(X_AXIS);
cartes.y = planner.get_axis_position_mm(Y_AXIS);
#endif
cartes.z = planner.get_axis_position_mm(Z_AXIS);
#endif
@ -1340,7 +1344,7 @@ void prepare_line_to_destination() {
TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis));
}
#if IS_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA)
// Tell the planner the axis is at 0
current_position[axis] = 0;
sync_plan_position();
@ -1490,7 +1494,7 @@ void prepare_line_to_destination() {
void homeaxis(const AxisEnum axis) {
#if IS_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA)
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
@ -1732,7 +1736,8 @@ void prepare_line_to_destination() {
TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:)
stepper.set_separate_multi_axis(false);
}
#endif
#endif // HAS_EXTRA_ENDSTOPS
#ifdef TMC_HOME_PHASE
// move back to homing phase if configured and capable
@ -1839,7 +1844,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
}
#endif
#if ENABLED(MORGAN_SCARA)
#if EITHER(MORGAN_SCARA, AXEL_TPARA)
scara_set_axis_is_at_home(axis);
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS) ? delta_height - TERN0(HAS_BED_PROBE, probe.offset.z) : base_home_pos(axis);