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156 lines
4.7 KiB
C++
156 lines
4.7 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* scara.cpp
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*/
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#include "../inc/MarlinConfig.h"
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#if IS_SCARA
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#include "scara.h"
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#include "motion.h"
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#include "stepper.h"
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float delta_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_AXIS] = Z_HOME_POS;
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else {
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/**
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* SCARA homes XY at the same time
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*/
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float homeposition[XYZ];
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LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
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// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
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// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
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/**
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* Get Home position SCARA arm angles using inverse kinematics,
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* and calculate homing offset using forward kinematics
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*/
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inverse_kinematics(homeposition);
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forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
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// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
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// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
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current_position[axis] = cartes[axis];
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/**
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* SCARA home positions are based on configuration since the actual
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* limits are determined by the inverse kinematic transform.
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*/
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soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
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soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
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}
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}
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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)) * L2,
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b_cos = cos(RADIANS(b)) * L2;
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cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
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cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
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/*
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SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
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SERIAL_ECHOPAIR(" b=", b);
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SERIAL_ECHOPAIR(" a_sin=", a_sin);
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SERIAL_ECHOPAIR(" a_cos=", a_cos);
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SERIAL_ECHOPAIR(" b_sin=", b_sin);
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SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
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SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
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SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
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//*/
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}
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/**
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* Morgan SCARA Inverse Kinematics. Results in delta[].
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*
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* See http://forums.reprap.org/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 float raw[XYZ]) {
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static float C2, S2, SK1, SK2, THETA, PSI;
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float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
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sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
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if (L1 == L2)
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C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
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else
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C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
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S2 = SQRT(1 - sq(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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// Rotated Arm2 gives the distance from Arm1 to Arm2
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SK2 = L2 * S2;
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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(sx, sy);
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// Angle of Arm2
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PSI = ATAN2(S2, C2);
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delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
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delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
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delta[C_AXIS] = raw[Z_AXIS];
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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_ECHOPAIR(" SCARA (x,y) ", sx);
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SERIAL_ECHOPAIR(",", sy);
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SERIAL_ECHOPAIR(" C2=", C2);
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SERIAL_ECHOPAIR(" S2=", S2);
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SERIAL_ECHOPAIR(" Theta=", THETA);
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SERIAL_ECHOLNPAIR(" Phi=", PHI);
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//*/
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}
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void scara_report_positions() {
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SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
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SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
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SERIAL_EOL();
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}
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#endif // IS_SCARA
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