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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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 = Z_HOME_POS;
- else {
-
- /**
- * SCARA homes XY at the same time
- */
- xyz_pos_t homeposition;
- LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
-
- #if ENABLED(MORGAN_SCARA)
- // MORGAN_SCARA uses arm angles for AB home position
- // SERIAL_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
- inverse_kinematics(homeposition);
- forward_kinematics_SCARA(delta.a, delta.b);
- current_position[axis] = cartes[axis];
- #else
- // MP_SCARA uses a Cartesian XY home position
- // SERIAL_ECHOLNPAIR("homeposition X:", homeposition.x, " Y:", homeposition.y);
- current_position[axis] = homeposition[axis];
- #endif
-
- // SERIAL_ECHOLNPAIR("Cartesian X:", current_position.x, " Y:", current_position.y);
- update_software_endstops(axis);
- }
- }
-
- static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y };
-
- /**
- * 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.set(a_cos + b_cos + scara_offset.x, // theta
- a_sin + b_sin + scara_offset.y); // theta+phi
-
- /*
- SERIAL_ECHOLNPAIR(
- "SCARA FK Angle a=", a,
- " b=", b,
- " a_sin=", a_sin,
- " a_cos=", a_cos,
- " b_sin=", b_sin,
- " b_cos=", b_cos
- );
- SERIAL_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")");
- //*/
- }
-
- void inverse_kinematics(const xyz_pos_t &raw) {
-
- #if ENABLED(MORGAN_SCARA)
- /**
- * 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.
- */
- float C2, S2, SK1, SK2, THETA, PSI;
-
- // Translate SCARA to standard XY with scaling factor
- const xy_pos_t spos = raw - scara_offset;
-
- const float H2 = HYPOT2(spos.x, spos.y);
- if (L1 == L2)
- C2 = H2 / L1_2_2 - 1;
- else
- C2 = (H2 - (L1_2 + L2_2)) / (2.0f * L1 * L2);
-
- S2 = SQRT(1.0f - 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(spos.x, spos.y);
-
- // Angle of Arm2
- PSI = ATAN2(S2, C2);
-
- delta.set(DEGREES(THETA), DEGREES(THETA + PSI), raw.z);
-
- /*
- DEBUG_POS("SCARA IK", raw);
- DEBUG_POS("SCARA IK", delta);
- SERIAL_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Phi=", PHI);
- //*/
-
- #else // MP_SCARA
-
- const float x = raw.x, y = raw.y, c = HYPOT(x, y),
- THETA3 = ATAN2(y, x),
- THETA1 = THETA3 + ACOS((sq(c) + sq(L1) - sq(L2)) / (2.0f * c * L1)),
- THETA2 = THETA3 - ACOS((sq(c) + sq(L2) - sq(L1)) / (2.0f * c * L2));
-
- delta.set(DEGREES(THETA1), DEGREES(THETA2), raw.z);
-
- /*
- DEBUG_POS("SCARA IK", raw);
- DEBUG_POS("SCARA IK", delta);
- SERIAL_ECHOLNPAIR(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2);
- //*/
-
- #endif // MP_SCARA
- }
-
- void scara_report_positions() {
- SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS), " Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
- SERIAL_EOL();
- }
-
- #endif // IS_SCARA
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