MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

🔧 Fix TPARA (…SCARA, DELTA) settings (#25016)

Browse Source
This commit is contained in:
ellensp 2022-11-26 19:21:47 +13:00 committed by Scott Lahteine
parent 8fd42eeeb6
commit b8ba9d60bb
6 changed files with 26 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
Marlin/Configuration.h
View File

@ -879,7 +879,7 @@
//#define POLARGRAPH //#define POLARGRAPH
#if ENABLED(POLARGRAPH) #if ENABLED(POLARGRAPH)
#define POLARGRAPH_MAX_BELT_LEN 1035.0 #define POLARGRAPH_MAX_BELT_LEN 1035.0
#define POLAR_SEGMENTS_PER_SECOND 5 #define DEFAULT_SEGMENTS_PER_SECOND 5
#endif #endif
// @section delta // @section delta
@ -891,28 +891,28 @@
// Make delta curves from many straight lines (linear interpolation). // Make delta curves from many straight lines (linear interpolation).
// This is a trade-off between visible corners (not enough segments) // This is a trade-off between visible corners (not enough segments)
// and processor overload (too many expensive sqrt calls). // and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200 #define DEFAULT_SEGMENTS_PER_SECOND 200
// After homing move down to a height where XY movement is unconstrained // After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE //#define DELTA_HOME_TO_SAFE_ZONE
// Delta calibration menu // Delta calibration menu
// uncomment to add three points calibration menu option. // Add three-point calibration to the MarlinUI menu.
// See http://minow.blogspot.com/index.html#4918805519571907051 // See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU //#define DELTA_CALIBRATION_MENU
// uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results) // G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results.
//#define DELTA_AUTO_CALIBRATION //#define DELTA_AUTO_CALIBRATION
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if ENABLED(DELTA_AUTO_CALIBRATION) #if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7) // Default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 #define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif #endif
// NOTE: All values for DELTA_* values MUST be floating point, so always have a decimal point in them
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the steprate for papertest probing // Step size for paper-test probing
#define PROBE_MANUALLY_STEP 0.05 // (mm) #define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif #endif
@ -957,7 +957,7 @@
//#define MP_SCARA //#define MP_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA) #if EITHER(MORGAN_SCARA, MP_SCARA)
// If movement is choppy try lowering this value // If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200 #define DEFAULT_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely. // Length of inner and outer support arms. Measure arm lengths precisely.
#define SCARA_LINKAGE_1 150 // (mm) #define SCARA_LINKAGE_1 150 // (mm)
@ -993,18 +993,18 @@
// Enable for TPARA kinematics and configure below // Enable for TPARA kinematics and configure below
//#define AXEL_TPARA //#define AXEL_TPARA
#if ENABLED(AXEL_TPARA) #if ENABLED(AXEL_TPARA)
#define DEBUG_ROBOT_KINEMATICS #define DEBUG_TPARA_KINEMATICS
#define ROBOT_SEGMENTS_PER_SECOND 200 #define DEFAULT_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely. // Length of inner and outer support arms. Measure arm lengths precisely.
#define ROBOT_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_1 120 // (mm)
#define ROBOT_LINKAGE_2 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm)
// SCARA tower offset (position of Tower relative to bed zero position) // 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. // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define ROBOT_OFFSET_X 0 // (mm) #define TPARA_OFFSET_X 0 // (mm)
#define ROBOT_OFFSET_Y 0 // (mm) #define TPARA_OFFSET_Y 0 // (mm)
#define ROBOT_OFFSET_Z 0 // (mm) #define TPARA_OFFSET_Z 0 // (mm)
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly #define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly

4
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View File

@ -336,9 +336,9 @@
#if IS_SCARA #if IS_SCARA
#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
#elif ENABLED(DELTA) #elif ENABLED(DELTA)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND) #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
#elif ENABLED(POLARGRAPH) #elif ENABLED(POLARGRAPH)
#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND) #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND)
#else // CARTESIAN #else // CARTESIAN
#ifdef LEVELED_SEGMENT_LENGTH #ifdef LEVELED_SEGMENT_LENGTH
#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH

6
Marlin/src/inc/Conditionals_post.h
View File

@ -275,10 +275,12 @@
*/ */
#if IS_SCARA #if IS_SCARA
#undef SLOWDOWN #undef SLOWDOWN
#if DISABLED(AXEL_TPARA) #if ENABLED(AXEL_TPARA)
#define SCARA_PRINTABLE_RADIUS (TPARA_LINKAGE_1 + TPARA_LINKAGE_2)
#else
#define QUICK_HOME #define QUICK_HOME
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif #endif
#define SCARA_PRINTABLE_RADIUS (SCARA_LINKAGE_1 + SCARA_LINKAGE_2)
#endif #endif
/** /**

2
Marlin/src/inc/SanityCheck.h
View File

@ -654,6 +654,8 @@
#error "SHOW_SD_PERCENT is now SHOW_PROGRESS_PERCENT." #error "SHOW_SD_PERCENT is now SHOW_PROGRESS_PERCENT."
#elif defined(EXTRA_LIN_ADVANCE_K) #elif defined(EXTRA_LIN_ADVANCE_K)
#error "EXTRA_LIN_ADVANCE_K is now ADVANCE_K_EXTRA." #error "EXTRA_LIN_ADVANCE_K is now ADVANCE_K_EXTRA."
#elif defined(POLAR_SEGMENTS_PER_SECOND) || defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND) || defined(TPARA_SEGMENTS_PER_SECOND)
#error "(POLAR|DELTA|SCARA|TPARA)_SEGMENTS_PER_SECOND is now DEFAULT_SEGMENTS_PER_SECOND."
#endif #endif
// L64xx stepper drivers have been removed // L64xx stepper drivers have been removed

2
Marlin/src/module/scara.cpp
View File

@ -37,7 +37,7 @@
#include "../MarlinCore.h" #include "../MarlinCore.h"
#endif #endif
float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SEGMENTS_PER_SECOND); float segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
#if EITHER(MORGAN_SCARA, MP_SCARA) #if EITHER(MORGAN_SCARA, MP_SCARA)

6
Marlin/src/module/settings.cpp
View File

@ -3044,11 +3044,7 @@ void MarlinSettings::reset() {
// //
#if IS_KINEMATIC #if IS_KINEMATIC
segments_per_second = ( segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
);
#if ENABLED(DELTA) #if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER; const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT; delta_height = DELTA_HEIGHT;