Kinematic and SCARA patches #4859
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ghost
reviewed
Sep 24, 2016
| return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS); | ||
| bool good; | ||
| #if IS_SCARA | ||
| #if MIDDLE_DEAD_ZONE_R > 0 |
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In example_configurations/SCARA/Configuration.h, this became MIDDLE_DEAD_ZONE.
ghost
reviewed
Sep 24, 2016
| #if IS_SCARA | ||
| #if MIDDLE_DEAD_ZONE_R > 0 | ||
| const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y); | ||
| good = (R2 >= sq(float(MIDDLE_DEAD_ZONE_R))) && (R2 <= sq(L1 + L2)); |
ghost
reviewed
Sep 24, 2016
| #define SCARA_LINKAGE_2 150 //mm | ||
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| // SCARA tower offset (position of Tower relative to bed zero position) | ||
| // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. | ||
| #define SCARA_OFFSET_X 100 //mm | ||
| #define SCARA_OFFSET_Y -56 //mm | ||
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| // Radius around the center where the arm cannot reach | ||
| #define MIDDLE_DEAD_ZONE 0 //mm |
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In Marlin_main.cpp, this became MIDDLE_DEAD_ZONE_R.
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MIDDLE_DEAD_ZONE_R is better. Fixed!
ghost
reviewed
Sep 24, 2016
| #define SCARA_LINKAGE_2 150 //mm | ||
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| // SCARA tower offset (position of Tower relative to bed zero position) | ||
| // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. | ||
| #define SCARA_OFFSET_X 100 //mm | ||
| #define SCARA_OFFSET_Y -56 //mm | ||
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| // Radius around the center where the arm cannot reach | ||
| #define MIDDLE_DEAD_ZONE 0 //mm | ||
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| #define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073 |
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Where are THETA_HOMING_OFFSET and PSI_HOMING_OFFSET used in?
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I guess these are placeholders for some future plans never realized.
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This PR consists of work done in support of MakerArm SCARA that applies generally to Marlin. See individual commits for changes. This PR may be broken up into smaller parts, but posting ahead of time to put it through thorough Travis CI tests.
The main change here is a more universal application of Non-linear Bed Leveling, moving the previous "
adjust_delta" functionality into thePlannerclass. In the near future thebed_level_gridand supporting functions will also be localized in thePlannerclass. This is an important consolidation.Other changes include:
SCARAwithMORGAN_SCARAto differentiate with other SCARA machinesSCARAsupport in more functions