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@@ -32,26 +32,29 @@
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#include "motion.h"
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#include "planner.h"
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35
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-float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
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35
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+#if ENABLED(AXEL_TPARA)
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+ // For homing, as in delta
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+ #include "planner.h"
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+ #include "endstops.h"
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+ #include "../lcd/marlinui.h"
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+ #include "../MarlinCore.h"
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+#endif
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+
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+float delta_segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND);
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void scara_set_axis_is_at_home(const AxisEnum axis) {
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if (axis == Z_AXIS)
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current_position.z = Z_HOME_POS;
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else {
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-
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- /**
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- * SCARA homes XY at the same time
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- */
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xyz_pos_t homeposition;
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LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
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-
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#if ENABLED(MORGAN_SCARA)
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// MORGAN_SCARA uses arm angles for AB home position
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//DEBUG_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
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inverse_kinematics(homeposition);
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forward_kinematics_SCARA(delta.a, delta.b);
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current_position[axis] = cartes[axis];
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54
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- #else
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+ #elif ENABLED(MP_SCARA)
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// MP_SCARA uses a Cartesian XY home position
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//DEBUG_ECHOPGM("homeposition");
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//DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y);
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@@ -59,6 +62,12 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
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delta.b = SCARA_OFFSET_THETA2;
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forward_kinematics_SCARA(delta.a, delta.b);
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current_position[axis] = cartes[axis];
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+ #elif ENABLED(AXEL_TPARA)
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+ //DEBUG_ECHOPGM("homeposition");
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+ //DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y, SP_Z_LBL, homeposition.z);
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+ inverse_kinematics(homeposition);
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+ forward_kinematics_TPARA(delta.a, delta.b, delta.c);
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+ current_position[axis] = cartes[axis];
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#endif
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//DEBUG_ECHOPGM("Cartesian");
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@@ -67,85 +76,210 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
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}
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}
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-static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
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+#if EITHER(MORGAN_SCARA, MP_SCARA)
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-/**
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- * Morgan SCARA Forward Kinematics. Results in 'cartes'.
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- * Maths and first version by QHARLEY.
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- * Integrated into Marlin and slightly restructured by Joachim Cerny.
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- */
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-void forward_kinematics_SCARA(const float &a, const float &b) {
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-
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- const float a_sin = sin(RADIANS(a)) * L1,
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- a_cos = cos(RADIANS(a)) * L1,
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- b_sin = sin(RADIANS(b + TERN0(MP_SCARA, a))) * L2,
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- b_cos = cos(RADIANS(b + TERN0(MP_SCARA, a))) * L2;
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-
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- cartes.set(a_cos + b_cos + scara_offset.x, // theta
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- a_sin + b_sin + scara_offset.y); // phi
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-
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- /*
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- DEBUG_ECHOLNPAIR(
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- "SCARA FK Angle a=", a,
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90
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- " b=", b,
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- " a_sin=", a_sin,
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- " a_cos=", a_cos,
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- " b_sin=", b_sin,
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- " b_cos=", b_cos
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- );
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- DEBUG_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
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- //*/
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-}
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+ static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
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-/**
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- * SCARA Inverse Kinematics. Results in 'delta'.
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- *
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- * See https://reprap.org/forum/read.php?185,283327
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- *
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- * Maths and first version by QHARLEY.
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- * Integrated into Marlin and slightly restructured by Joachim Cerny.
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- */
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-void inverse_kinematics(const xyz_pos_t &raw) {
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- float C2, S2, SK1, SK2, THETA, PSI;
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+ /**
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+ * Morgan SCARA Forward Kinematics. Results in 'cartes'.
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+ * Maths and first version by QHARLEY.
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+ * Integrated into Marlin and slightly restructured by Joachim Cerny.
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+ */
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+ void forward_kinematics_SCARA(const float &a, const float &b) {
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+ const float a_sin = sin(RADIANS(a)) * L1,
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+ a_cos = cos(RADIANS(a)) * L1,
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+ b_sin = sin(RADIANS(b + TERN0(MP_SCARA, a))) * L2,
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+ b_cos = cos(RADIANS(b + TERN0(MP_SCARA, a))) * L2;
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93
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- // Translate SCARA to standard XY with scaling factor
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- const xy_pos_t spos = raw - scara_offset;
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+ cartes.x = a_cos + b_cos + scara_offset.x; // theta
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+ cartes.y = a_sin + b_sin + scara_offset.y; // phi
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- const float H2 = HYPOT2(spos.x, spos.y);
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- if (L1 == L2)
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- C2 = H2 / L1_2_2 - 1;
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- else
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- C2 = (H2 - (L1_2 + L2_2)) / (2.0f * L1 * L2);
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+ /*
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+ DEBUG_ECHOLNPAIR(
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+ "SCARA FK Angle a=", a,
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+ " b=", b,
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+ " a_sin=", a_sin,
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+ " a_cos=", a_cos,
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+ " b_sin=", b_sin,
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+ " b_cos=", b_cos
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+ );
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+ DEBUG_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
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+ //*/
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+ }
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- LIMIT(C2, -1, 1);
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+ /**
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+ * Morgan SCARA Inverse Kinematics. Results are stored in 'delta'.
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+ *
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+ * See https://reprap.org/forum/read.php?185,283327
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+ *
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+ * Maths and first version by QHARLEY.
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+ * Integrated into Marlin and slightly restructured by Joachim Cerny.
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+ */
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+ void inverse_kinematics(const xyz_pos_t &raw) {
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+ float C2, S2, SK1, SK2, THETA, PSI;
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120
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- S2 = SQRT(1.0f - sq(C2));
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+ // Translate SCARA to standard XY with scaling factor
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+ const xy_pos_t spos = raw - scara_offset;
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123
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- // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
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- SK1 = L1 + L2 * C2;
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+ const float H2 = HYPOT2(spos.x, spos.y);
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+ if (L1 == L2)
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+ C2 = H2 / L1_2_2 - 1;
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+ else
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+ C2 = (H2 - (L1_2 + L2_2)) / (2.0f * L1 * L2);
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- // Rotated Arm2 gives the distance from Arm1 to Arm2
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- SK2 = L2 * S2;
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+ LIMIT(C2, -1, 1);
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- // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
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- THETA = ATAN2(SK1, SK2) - ATAN2(spos.x, spos.y);
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+ S2 = SQRT(1.0f - sq(C2));
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- // Angle of Arm2
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- PSI = ATAN2(S2, C2);
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+ // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
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+ SK1 = L1 + L2 * C2;
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- delta.set(DEGREES(THETA), DEGREES(PSI + TERN0(MORGAN_SCARA, THETA)), raw.z);
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+ // Rotated Arm2 gives the distance from Arm1 to Arm2
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+ SK2 = L2 * S2;
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- /*
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- DEBUG_POS("SCARA IK", raw);
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- DEBUG_POS("SCARA IK", delta);
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- DEBUG_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Psi=", PSI);
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- //*/
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-}
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+ // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
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+ THETA = ATAN2(SK1, SK2) - ATAN2(spos.x, spos.y);
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+
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+ // Angle of Arm2
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+ PSI = ATAN2(S2, C2);
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+
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+ delta.set(DEGREES(THETA), DEGREES(PSI + TERN0(MORGAN_SCARA, THETA)), raw.z);
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+
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+ /*
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+ DEBUG_POS("SCARA IK", raw);
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+ DEBUG_POS("SCARA IK", delta);
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+ DEBUG_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Psi=", PSI);
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+ //*/
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+ }
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+
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+#elif ENABLED(MP_SCARA)
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+
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+ void inverse_kinematics(const xyz_pos_t &raw) {
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+ const float x = raw.x, y = raw.y, c = HYPOT(x, y),
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+ THETA3 = ATAN2(y, x),
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+ THETA1 = THETA3 + ACOS((sq(c) + sq(L1) - sq(L2)) / (2.0f * c * L1)),
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+ THETA2 = THETA3 - ACOS((sq(c) + sq(L2) - sq(L1)) / (2.0f * c * L2));
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+
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+ delta.set(DEGREES(THETA1), DEGREES(THETA2), raw.z);
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+
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+ /*
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+ DEBUG_POS("SCARA IK", raw);
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+ DEBUG_POS("SCARA IK", delta);
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+ SERIAL_ECHOLNPAIR(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2);
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+ //*/
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+ }
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+
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+#elif ENABLED(AXEL_TPARA)
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+
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+ static constexpr xyz_pos_t robot_offset = { TPARA_OFFSET_X, TPARA_OFFSET_Y, TPARA_OFFSET_Z };
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+
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+ // Convert ABC inputs in degrees to XYZ outputs in mm
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+ void forward_kinematics_TPARA(const float &a, const float &b, const float &c) {
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+ const float w = c - b,
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+ r = L1 * cos(RADIANS(b)) + L2 * sin(RADIANS(w - (90 - b))),
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180
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+ x = r * cos(RADIANS(a)),
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+ y = r * sin(RADIANS(a)),
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+ rho2 = L1_2 + L2_2 - 2.0f * L1 * L2 * cos(RADIANS(w));
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+
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+ cartes = robot_offset + xyz_pos_t({ x, y, SQRT(rho2 - x * x - y * y) });
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+ }
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+
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+ // Home YZ together, then X (or all at once). Based on quick_home_xy & home_delta
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+ void home_TPARA() {
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+ // Init the current position of all carriages to 0,0,0
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+ current_position.reset();
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+ destination.reset();
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+ sync_plan_position();
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+
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+ // Disable stealthChop if used. Enable diag1 pin on driver.
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+ #if ENABLED(SENSORLESS_HOMING)
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+ TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
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+ TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
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+ TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
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+ #endif
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+
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+ // const int x_axis_home_dir = x_home_dir(active_extruder);
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+
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+ // const xy_pos_t pos { max_length(X_AXIS) , max_length(Y_AXIS) };
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+ // const float mlz = max_length(X_AXIS),
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+
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+ // Move all carriages together linearly until an endstop is hit.
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+ //do_blocking_move_to_xy_z(pos, mlz, homing_feedrate(Z_AXIS));
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+
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+ current_position.x = 0 ;
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+ current_position.y = 0 ;
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+ current_position.z = max_length(Z_AXIS) ;
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+ line_to_current_position(homing_feedrate(Z_AXIS));
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+ planner.synchronize();
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+
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+ // Re-enable stealthChop if used. Disable diag1 pin on driver.
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+ #if ENABLED(SENSORLESS_HOMING)
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+ TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
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+ TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
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+ TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
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220
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+ #endif
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+
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222
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+ endstops.validate_homing_move();
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+
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224
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+ // At least one motor has reached its endstop.
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225
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+ // Now re-home each motor separately.
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226
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+ homeaxis(A_AXIS);
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227
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+ homeaxis(C_AXIS);
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+ homeaxis(B_AXIS);
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+
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230
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+
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231
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+ // Set all carriages to their home positions
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232
|
+ // Do this here all at once for Delta, because
|
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|
233
|
+ // XYZ isn't ABC. Applying this per-tower would
|
|
|
234
|
+ // give the impression that they are the same.
|
|
|
235
|
+ LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
|
|
|
236
|
+
|
|
|
237
|
+ sync_plan_position();
|
|
|
238
|
+ }
|
|
|
239
|
+
|
|
|
240
|
+ void inverse_kinematics(const xyz_pos_t &raw) {
|
|
|
241
|
+ const xyz_pos_t spos = raw - robot_offset;
|
|
|
242
|
+
|
|
|
243
|
+ const float RXY = SQRT(HYPOT2(spos.x, spos.y)),
|
|
|
244
|
+ RHO2 = NORMSQ(spos.x, spos.y, spos.z),
|
|
|
245
|
+ //RHO = SQRT(RHO2),
|
|
|
246
|
+ LSS = L1_2 + L2_2,
|
|
|
247
|
+ LM = 2.0f * L1 * L2,
|
|
|
248
|
+
|
|
|
249
|
+ CG = (LSS - RHO2) / LM,
|
|
|
250
|
+ SG = SQRT(1 - POW(CG, 2)), // Method 2
|
|
|
251
|
+ K1 = L1 - L2 * CG,
|
|
|
252
|
+ K2 = L2 * SG,
|
|
|
253
|
+
|
|
|
254
|
+ // Angle of Body Joint
|
|
|
255
|
+ THETA = ATAN2(spos.y, spos.x),
|
|
|
256
|
+
|
|
|
257
|
+ // Angle of Elbow Joint
|
|
|
258
|
+ //GAMMA = ACOS(CG),
|
|
|
259
|
+ GAMMA = ATAN2(SG, CG), // Method 2
|
|
|
260
|
+
|
|
|
261
|
+ // Angle of Shoulder Joint, elevation angle measured from horizontal (r+)
|
|
|
262
|
+ //PHI = asin(spos.z/RHO) + asin(L2 * sin(GAMMA) / RHO),
|
|
|
263
|
+ PHI = ATAN2(spos.z, RXY) + ATAN2(K2, K1), // Method 2
|
|
|
264
|
+
|
|
|
265
|
+ // Elbow motor angle measured from horizontal, same frame as shoulder (r+)
|
|
|
266
|
+ PSI = PHI + GAMMA;
|
|
|
267
|
+
|
|
|
268
|
+ delta.set(DEGREES(THETA), DEGREES(PHI), DEGREES(PSI));
|
|
|
269
|
+
|
|
|
270
|
+ //SERIAL_ECHOLNPAIR(" SCARA (x,y,z) ", spos.x , ",", spos.y, ",", spos.z, " Rho=", RHO, " Rho2=", RHO2, " Theta=", THETA, " Phi=", PHI, " Psi=", PSI, " Gamma=", GAMMA);
|
|
|
271
|
+ }
|
|
|
272
|
+
|
|
|
273
|
+#endif
|
|
144
|
274
|
|
|
145
|
275
|
void scara_report_positions() {
|
|
146
|
|
- SERIAL_ECHOLNPAIR(
|
|
147
|
|
- "SCARA Theta:", planner.get_axis_position_degrees(A_AXIS),
|
|
148
|
|
- " Psi" TERN_(MORGAN_SCARA, "+Theta") ":", planner.get_axis_position_degrees(B_AXIS)
|
|
|
276
|
+ SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS)
|
|
|
277
|
+ #if ENABLED(AXEL_TPARA)
|
|
|
278
|
+ , " Phi:", planner.get_axis_position_degrees(B_AXIS)
|
|
|
279
|
+ , " Psi:", planner.get_axis_position_degrees(C_AXIS)
|
|
|
280
|
+ #else
|
|
|
281
|
+ , " Psi" TERN_(MORGAN_SCARA, "+Theta") ":", planner.get_axis_position_degrees(B_AXIS)
|
|
|
282
|
+ #endif
|
|
149
|
283
|
);
|
|
150
|
284
|
SERIAL_EOL();
|
|
151
|
285
|
}
|
Axel
4 роки тому