156 lines
4.7 KiB
C++
156 lines
4.7 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* scara.cpp
|
|
*/
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
|
|
#if IS_SCARA
|
|
|
|
#include "scara.h"
|
|
#include "motion.h"
|
|
#include "planner.h"
|
|
|
|
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
|
|
|
|
void scara_set_axis_is_at_home(const AxisEnum axis) {
|
|
if (axis == Z_AXIS)
|
|
current_position[Z_AXIS] = Z_HOME_POS;
|
|
else {
|
|
|
|
/**
|
|
* SCARA homes XY at the same time
|
|
*/
|
|
float homeposition[XYZ];
|
|
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
|
|
|
|
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
|
|
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
|
|
|
|
/**
|
|
* Get Home position SCARA arm angles using inverse kinematics,
|
|
* and calculate homing offset using forward kinematics
|
|
*/
|
|
inverse_kinematics(homeposition);
|
|
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
|
|
|
|
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
|
|
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
|
|
|
|
current_position[axis] = cartes[axis];
|
|
|
|
/**
|
|
* SCARA home positions are based on configuration since the actual
|
|
* limits are determined by the inverse kinematic transform.
|
|
*/
|
|
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
|
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Morgan SCARA Forward Kinematics. Results in cartes[].
|
|
* Maths and first version by QHARLEY.
|
|
* Integrated into Marlin and slightly restructured by Joachim Cerny.
|
|
*/
|
|
void forward_kinematics_SCARA(const float &a, const float &b) {
|
|
|
|
const float a_sin = sin(RADIANS(a)) * L1,
|
|
a_cos = cos(RADIANS(a)) * L1,
|
|
b_sin = sin(RADIANS(b)) * L2,
|
|
b_cos = cos(RADIANS(b)) * L2;
|
|
|
|
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
|
|
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
|
|
|
|
/*
|
|
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
|
|
SERIAL_ECHOPAIR(" b=", b);
|
|
SERIAL_ECHOPAIR(" a_sin=", a_sin);
|
|
SERIAL_ECHOPAIR(" a_cos=", a_cos);
|
|
SERIAL_ECHOPAIR(" b_sin=", b_sin);
|
|
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
|
|
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
|
|
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
|
|
//*/
|
|
}
|
|
|
|
/**
|
|
* Morgan SCARA Inverse Kinematics. Results in delta[].
|
|
*
|
|
* See http://forums.reprap.org/read.php?185,283327
|
|
*
|
|
* Maths and first version by QHARLEY.
|
|
* Integrated into Marlin and slightly restructured by Joachim Cerny.
|
|
*/
|
|
void inverse_kinematics(const float raw[XYZ]) {
|
|
|
|
static float C2, S2, SK1, SK2, THETA, PSI;
|
|
|
|
float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
|
|
sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
|
|
|
|
if (L1 == L2)
|
|
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
|
|
else
|
|
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
|
|
|
|
S2 = SQRT(1 - sq(C2));
|
|
|
|
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
|
|
SK1 = L1 + L2 * C2;
|
|
|
|
// Rotated Arm2 gives the distance from Arm1 to Arm2
|
|
SK2 = L2 * S2;
|
|
|
|
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
|
|
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
|
|
|
|
// Angle of Arm2
|
|
PSI = ATAN2(S2, C2);
|
|
|
|
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
|
|
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
|
|
delta[C_AXIS] = raw[Z_AXIS];
|
|
|
|
/*
|
|
DEBUG_POS("SCARA IK", raw);
|
|
DEBUG_POS("SCARA IK", delta);
|
|
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
|
|
SERIAL_ECHOPAIR(",", sy);
|
|
SERIAL_ECHOPAIR(" C2=", C2);
|
|
SERIAL_ECHOPAIR(" S2=", S2);
|
|
SERIAL_ECHOPAIR(" Theta=", THETA);
|
|
SERIAL_ECHOLNPAIR(" Phi=", PHI);
|
|
//*/
|
|
}
|
|
|
|
void scara_report_positions() {
|
|
SERIAL_PROTOCOLPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS));
|
|
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
|
|
SERIAL_EOL();
|
|
}
|
|
|
|
#endif // IS_SCARA
|