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Mostly Printed SCARA (MPSCARA) support (#15573)

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2.0.x
brian park 5 years ago committed by Scott Lahteine
parent 19f840a9b5
commit b258cc85bf
6 changed files with 5091 additions and 57 deletions
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1
Marlin/src/core/macros.h
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@ -251,6 +251,7 @@
//
// Maths macros that can be overridden by HAL
//
#define ACOS(x) acosf(x)
#define ATAN2(y, x) atan2f(y, x)
#define POW(x, y) powf(x, y)
#define SQRT(x) sqrtf(x)

105
Marlin/src/module/scara.cpp
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@ -45,19 +45,19 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
xyz_pos_t homeposition;
LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
// SERIAL_ECHOLNPAIR("homeposition X:", homeposition.x, " Y:", homeposition.y);
/**
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta.a, delta.b);
// SERIAL_ECHOLNPAIR("Cartesian X:", cartes.x, " Y:", cartes.y);
current_position[axis] = cartes[axis];
#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);
}
}
@ -92,48 +92,67 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
//*/
}
/**
* 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 xyz_pos_t &raw) {
float C2, S2, SK1, SK2, THETA, PSI;
#if ENABLED(MORGAN_SCARA)
// Translate SCARA to standard XY with scaling factor
const xy_pos_t spos = raw - scara_offset;
/**
* 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;
const float H2 = HYPOT2(spos.x, spos.y);
if (L1 == L2)
C2 = H2 / L1_2_2 - 1;
else
C2 = (H2 - (L1_2 + L2_2)) / (2.0 * L1 * L2);
// Translate SCARA to standard XY with scaling factor
const xy_pos_t spos = raw - scara_offset;
S2 = SQRT(1.0f - sq(C2));
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);
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
S2 = SQRT(1.0f - sq(C2));
// Rotated Arm2 gives the distance from Arm1 to Arm2
SK2 = L2 * S2;
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
// 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);
// Rotated Arm2 gives the distance from Arm1 to Arm2
SK2 = L2 * S2;
// Angle of Arm2
PSI = ATAN2(S2, C2);
// 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);
delta.set(DEGREES(THETA), DEGREES(THETA + PSI), raw.z);
// Angle of Arm2
PSI = ATAN2(S2, C2);
/*
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);
//*/
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() {

2245
config/examples/SCARA/MP_SCARA/Configuration.h
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2756
config/examples/SCARA/MP_SCARA/Configuration_adv.h
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41
config/examples/SCARA/Configuration.h → config/examples/SCARA/Morgan/Configuration.h
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@ -62,32 +62,45 @@
* MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
* Implemented and slightly reworked by JCERNY in June, 2014.
*/
// Specify the specific SCARA model
#define MORGAN_SCARA
#if ENABLED(MORGAN_SCARA)
//#define DEBUG_SCARA_KINEMATICS
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
/**
* Mostly Printed SCARA is an open source design by Tyler Williams. See:
* https://www.thingiverse.com/thing:2487048
* https://www.thingiverse.com/thing:1241491
*/
//#define MP_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA)
// If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200
// Length of inner and outer support arms. Measure arm lengths precisely.
#define SCARA_LINKAGE_1 150 //mm
#define SCARA_LINKAGE_2 150 //mm
#define SCARA_LINKAGE_1 150 // (mm)
#define SCARA_LINKAGE_2 150 // (mm)
// 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
#define SCARA_OFFSET_X 100 // (mm)
#define SCARA_OFFSET_Y -56 // (mm)
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 //mm
#if ENABLED(MORGAN_SCARA)
#define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
//#define DEBUG_SCARA_KINEMATICS
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)
#define THETA_HOMING_OFFSET 0 // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#elif ENABLED(MP_SCARA)
#define SCARA_OFFSET_THETA1 12 // degrees
#define SCARA_OFFSET_THETA2 131 // degrees
#endif
#endif

0
config/examples/SCARA/Configuration_adv.h → config/examples/SCARA/Morgan/Configuration_adv.h
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