323 development of rotary delta kinematics for esp32fr #331
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Owner
Paciente8159
commented
Nov 10, 2022
Paciente8159
commented
- new rotary delta kinematics HAL support
- improved motion control, planner and interpolator to handle both linear and non linear kinematics
- better feedrate calculations
- added delta settings to protocol - fixed virtual MCU
- fixed delta kinematics - fixed settings error - merged DELTA type kinematics motion control
- calculate delta motion limits at initialize - modified steps per angle to steps per full turn (better precision)
- invalidate home offset on homing command for cuboid far end point of homing direction - limit homing seek distance to valid travel points (fixes homing feed calculations)
- modified motion control feed calculations (based on axis speeds) - moved rapid feed rate calculations and acceleration from planner to motion control - modified definitions for kinematics that are done in segments (Deltas, scaras, etc...)
Modified feed calculations
- moved code between motion control and planner to reduce amount of static and global variables needed - unified feed conversion method
Optimize motion core
Paciente8159
added
needs: testing
- math round optimizations - delta compliant to SET_ORIGIN_AT_HOME_POS -fixed max feed for backlash compensation
- adjust rapid feed to laser PPI settings - move kinematics type identification string to kinematics .h files - interpolator code cleanup
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Only thing remaining is a proper test in a delta. Merging. |
Paciente8159
deleted the
323-development-of-rotary-delta-kinematics-for-esp32fr
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