Deltabot settings and configuration adjustments.

Marlin/Configuration.h

@@ -9,7 +9,7 @@
 //Implementation of an idea by Prof Braino to inform user that any changes made
 //to this build by the user have been successfully uploaded into firmware.
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" //Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "(jcrocholl, deltabot)" //Who made the changes.
 
 // SERIAL_PORT selects which serial port should be used for communication with the host.
 // This allows the connection of wireless adapters (for instance) to non-default port pins.
@@ -46,10 +46,42 @@
 // Rambo = 301
 
 #ifndef MOTHERBOARD
-#define MOTHERBOARD 7
+#define MOTHERBOARD 33
 #endif
 
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+
+// 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  ============================
@@ -75,7 +107,7 @@
 // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
 // 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)
 
-#define TEMP_SENSOR_0 -1
+#define TEMP_SENSOR_0 1
 #define TEMP_SENSOR_1 0
 #define TEMP_SENSOR_2 0
 #define TEMP_SENSOR_BED 0
@@ -211,9 +243,9 @@
 #endif
 
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
-const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
-const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. 
+const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
+const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
+const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
 //#define DISABLE_MAX_ENDSTOPS
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
@@ -228,27 +260,29 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define DISABLE_Z false
 #define DISABLE_E false // For all extruders
 
-#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
+#define INVERT_X_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
 #define INVERT_E0_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
-#define INVERT_E1_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_E1_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 #define INVERT_E2_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
 
 // ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
-#define X_HOME_DIR -1
-#define Y_HOME_DIR -1
-#define Z_HOME_DIR -1
+#define X_HOME_DIR 1
+#define Y_HOME_DIR 1
+#define Z_HOME_DIR 1
+
+#define min_software_endstops false //If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
 
-#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true  //If true, axis won't move to coordinates greater than the defined lengths below.
 // Travel limits after homing
-#define X_MAX_POS 205
+// For deltabots, the MAX_POS doesn't have to be exact, it will be recalculated from MANUAL_Z_HOME_POS below.
+#define X_MAX_POS 620
 #define X_MIN_POS 0
-#define Y_MAX_POS 205
+#define Y_MAX_POS 620
 #define Y_MIN_POS 0
-#define Z_MAX_POS 200
+#define Z_MAX_POS 620
 #define Z_MIN_POS 0
 
 #define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
@@ -256,31 +290,32 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
 #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
 
 // The position of the homing switches
-//#define MANUAL_HOME_POSITIONS  // If defined, manualy programed locations will be used
+#define MANUAL_HOME_POSITIONS  // If defined, manualy programed locations will be used
 //#define BED_CENTER_AT_0_0  // If defined the center of the bed is defined as (0,0)
 
-//Manual homing switch locations:
+// 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  // 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
-#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}  // set the homing speeds (mm/min)
+#define HOMING_FEEDRATE {100*60, 100*60, 100*60, 0}  // set the homing speeds (mm/min)
 
 // default settings 
 
-#define DEFAULT_AXIS_STEPS_PER_UNIT   {78.7402,78.7402,200*8/3,760*1.1}  // default steps per unit for ultimaker 
-#define DEFAULT_MAX_FEEDRATE          {500, 500, 5, 45}    // (mm/sec)    
-#define DEFAULT_MAX_ACCELERATION      {9000,9000,100,10000}    // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
+#define DEFAULT_AXIS_STEPS_PER_UNIT   {40, 40, 40, 100}
+#define DEFAULT_MAX_FEEDRATE          {300, 300, 300, 300}  // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION      {9000, 9000, 9000, 9000}    // X, Y, Z, E maximum start speed for accelerated moves.
 
-#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E max acceleration in mm/s^2 for printing moves 
+#define DEFAULT_ACCELERATION          3000   // X, Y, Z and E max acceleration in mm/s^2 for printing moves
 #define DEFAULT_RETRACT_ACCELERATION  3000   // X, Y, Z and E max acceleration in mm/s^2 for r retracts
 
 // 
-#define DEFAULT_XYJERK                20.0    // (mm/sec)
-#define DEFAULT_ZJERK                 0.4     // (mm/sec)
-#define DEFAULT_EJERK                 5.0    // (mm/sec)
+#define DEFAULT_XYJERK                20.0   // (mm/sec)
+#define DEFAULT_ZJERK                 20.0   // (mm/sec)
+#define DEFAULT_EJERK                 20.0   // (mm/sec)
 
 //===========================================================================
 //=============================Additional Features===========================

Marlin/Configuration_adv.h

@@ -140,7 +140,7 @@
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
-#define Z_HOME_RETRACT_MM 1 
+#define Z_HOME_RETRACT_MM 5 
 //#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
 
 #define AXIS_RELATIVE_MODES {false, false, false, false}
@@ -163,7 +163,7 @@
 #define DEFAULT_MINSEGMENTTIME        20000
 
 // If defined the movements slow down when the look ahead buffer is only half full
-#define SLOWDOWN
+//#define SLOWDOWN
 
 // Frequency limit
 // See nophead's blog for more info
@@ -250,7 +250,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
 #if defined SDSUPPORT
   #define BLOCK_BUFFER_SIZE 16   // SD,LCD,Buttons take more memory, block buffer needs to be smaller
 #else
-  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+  #define BLOCK_BUFFER_SIZE 64 // maximize block buffer
 #endif