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Added CoreXY support (Thanks Ilan Moyer)

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This commit is contained in:
Erik van der Zalm 2012-07-14 14:21:53 +02:00
parent aa65fe22ed
commit ea2c19f978
3 changed files with 16 additions and 14 deletions
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11
Marlin/Configuration.h
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@ -35,9 +35,7 @@
#define MOTHERBOARD 7 #define MOTHERBOARD 7
#endif #endif
/// Comment out the following line to enable normal kinematics
#define COREXY
//=========================================================================== //===========================================================================
//=============================Thermal Settings ============================ //=============================Thermal Settings ============================
@ -131,6 +129,9 @@
//=============================Mechanical Settings=========================== //=============================Mechanical Settings===========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// #define COREXY
// corse Endstop Settings // corse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -172,7 +173,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define DISABLE_E false // For all extruders #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 true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false #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 true // 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_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
@ -184,8 +185,8 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define Y_HOME_DIR -1 #define Y_HOME_DIR -1
#define Z_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 min_software_endstops true //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 max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 205 #define X_MAX_LENGTH 205
#define Y_MAX_LENGTH 205 #define Y_MAX_LENGTH 205
#define Z_MAX_LENGTH 200 #define Z_MAX_LENGTH 200

14
Marlin/stepper.cpp
View file

@ -488,16 +488,16 @@ ISR(TIMER1_COMPA_vect)
if (counter_x > 0) { if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, LOW);
} }
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, LOW);
} }
#endif #endif
@ -509,18 +509,18 @@ ISR(TIMER1_COMPA_vect)
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, HIGH);
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE(X_STEP_PIN, LOW); WRITE(X_STEP_PIN, LOW);
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, LOW);
count_position[X_AXIS]+=count_direction[X_AXIS];
} }
if (!(counter_x > 0)&&(counter_y>0)){ //Y step only if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, HIGH);
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE(X_STEP_PIN, LOW); WRITE(X_STEP_PIN, LOW);
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, LOW);
count_position[Y_AXIS]+=count_direction[Y_AXIS];
} }
if ((counter_x > 0)&&(counter_y>0)){ //step in both axes if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
@ -553,8 +553,8 @@ ISR(TIMER1_COMPA_vect)
if (counter_z > 0) { if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH); WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, LOW);
} }
#ifndef ADVANCE #ifndef ADVANCE
@ -562,8 +562,8 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) { if (counter_e > 0) {
WRITE_E_STEP(HIGH); WRITE_E_STEP(HIGH);
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
WRITE_E_STEP(LOW);
count_position[E_AXIS]+=count_direction[E_AXIS]; count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE_E_STEP(LOW);
} }
#endif //!ADVANCE #endif //!ADVANCE
step_events_completed += 1; step_events_completed += 1;

1
README.md
View file

@ -44,6 +44,7 @@ Features:
* Updated sdcardlib * Updated sdcardlib
* Heater power reporting. Useful for PID monitoring. * Heater power reporting. Useful for PID monitoring.
* PID tuning * PID tuning
* CoreXY kinematics (www.corexy.com/theory.html)
The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.