My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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delta.h 3.8KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <https://www.gnu.org/licenses/>.
  20. *
  21. */
  22. #pragma once
  23. /**
  24. * delta.h - Delta-specific functions
  25. */
  26. #include "../core/types.h"
  27. #include "../core/macros.h"
  28. extern float delta_height;
  29. extern abc_float_t delta_endstop_adj;
  30. extern float delta_radius,
  31. delta_diagonal_rod,
  32. segments_per_second;
  33. extern abc_float_t delta_tower_angle_trim;
  34. extern xy_float_t delta_tower[ABC];
  35. extern abc_float_t delta_diagonal_rod_2_tower;
  36. extern float delta_clip_start_height;
  37. extern abc_float_t delta_diagonal_rod_trim;
  38. /**
  39. * Recalculate factors used for delta kinematics whenever
  40. * settings have been changed (e.g., by M665).
  41. */
  42. void recalc_delta_settings();
  43. /**
  44. * Get a safe radius for calibration
  45. */
  46. #if HAS_DELTA_SENSORLESS_PROBING
  47. static constexpr float sensorless_radius_factor = 0.7f;
  48. #endif
  49. /**
  50. * Delta Inverse Kinematics
  51. *
  52. * Calculate the tower positions for a given machine
  53. * position, storing the result in the delta[] array.
  54. *
  55. * This is an expensive calculation, requiring 3 square
  56. * roots per segmented linear move, and strains the limits
  57. * of a Mega2560 with a Graphical Display.
  58. *
  59. * Suggested optimizations include:
  60. *
  61. * - Disable the home_offset (M206) and/or position_shift (G92)
  62. * features to remove up to 12 float additions.
  63. *
  64. * - Use a fast-inverse-sqrt function and add the reciprocal.
  65. * (see above)
  66. */
  67. // Macro to obtain the Z position of an individual tower
  68. #define DELTA_Z(V,T) V.z + SQRT( \
  69. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  70. delta_tower[T].x - V.x, \
  71. delta_tower[T].y - V.y \
  72. ) \
  73. )
  74. #define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS))
  75. void inverse_kinematics(const xyz_pos_t &raw);
  76. /**
  77. * Calculate the highest Z position where the
  78. * effector has the full range of XY motion.
  79. */
  80. float delta_safe_distance_from_top();
  81. void refresh_delta_clip_start_height();
  82. /**
  83. * Delta Forward Kinematics
  84. *
  85. * See the Wikipedia article "Trilateration"
  86. * https://en.wikipedia.org/wiki/Trilateration
  87. *
  88. * Establish a new coordinate system in the plane of the
  89. * three carriage points. This system has its origin at
  90. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  91. * plane with a Z component of zero.
  92. * We will define unit vectors in this coordinate system
  93. * in our original coordinate system. Then when we calculate
  94. * the Xnew, Ynew and Znew values, we can translate back into
  95. * the original system by moving along those unit vectors
  96. * by the corresponding values.
  97. *
  98. * Variable names matched to Marlin, c-version, and avoid the
  99. * use of any vector library.
  100. *
  101. * by Andreas Hardtung 2016-06-07
  102. * based on a Java function from "Delta Robot Kinematics V3"
  103. * by Steve Graves
  104. *
  105. * The result is stored in the cartes[] array.
  106. */
  107. void forward_kinematics(const_float_t z1, const_float_t z2, const_float_t z3);
  108. FORCE_INLINE void forward_kinematics(const abc_float_t &point) {
  109. forward_kinematics(point.a, point.b, point.c);
  110. }
  111. void home_delta();