Changes for rotary delta homing...

The alpha_max, beta_max, gamma_max are the angle that the actuators are at when homed.

home_offsets (set with M206) are the theta offsets for the homing angle.

When a rotary delta homes it uses the angle given in the alpha_max+home_offset[0] and uses the FK
(actuator_to_cartesian) to input the angles and get the cartesian XYZ for those angles, (added a
new call Robot::reset_actuator_position(a, b, c) where a b c are the theta angles for each actuator).

M306 and trim (M666) is disabled for rotary delta. (unless someone can explain to me how trim would
actually work in this case).

diff --git a/src/modules/tools/endstops/Endstops.cpp b/src/modules/tools/endstops/Endstops.cpp
index 234f2ad..f3140cf 100644 (file)
--- a/src/modules/tools/endstops/Endstops.cpp
+++ b/src/modules/tools/endstops/Endstops.cpp
@@ -225,7 +225,7 @@ void Endstops::on_config_reload(void *argument)
     this->limit_enable[Y_AXIS] = THEKERNEL->config->value(beta_limit_enable_checksum)->by_default(false)->as_bool();
     this->limit_enable[Z_AXIS] = THEKERNEL->config->value(gamma_limit_enable_checksum)->by_default(false)->as_bool();
 
-    //s et to true by default for deltas duwe to trim, false on cartesians
+    // set to true by default for deltas duwe to trim, false on cartesians
     this->move_to_origin_after_home = THEKERNEL->config->value(move_to_origin_checksum)->by_default(is_delta)->as_bool();
 
     if(this->limit_enable[X_AXIS] || this->limit_enable[Y_AXIS] || this->limit_enable[Z_AXIS]) {
@@ -245,7 +245,8 @@ void Endstops::on_config_reload(void *argument)
         this->slow_rates[1] = this->slow_rates[2] = this->slow_rates[0];
         this->retract_mm[1] = this->retract_mm[2] = this->retract_mm[0];
         this->home_direction[1] = this->home_direction[2] = this->home_direction[0];
-        this->homing_position[0] = this->homing_position[1] = 0;
+        // NOTE homing_position for rdelta is the angle of the actuator not the cartesian position
+        if(!this->is_rdelta) this->homing_position[0] = this->homing_position[1] = 0;
     }
 }
 
@@ -711,6 +712,8 @@ void Endstops::on_gcode_received(void *argument)
 
         if(home_all) {
             // Here's where we would have been if the endstops were perfectly trimmed
+            // NOTE on a rotary delta home_offset is actuator position in degrees when homed and
+            // home_offset is the theta offset for each actuator, so M206 is used to set theta offset for each actuator in degrees
             float ideal_position[3] = {
                 this->homing_position[X_AXIS] + this->home_offset[X_AXIS],
                 this->homing_position[Y_AXIS] + this->home_offset[Y_AXIS],
@@ -733,11 +736,19 @@ void Endstops::on_gcode_received(void *argument)
                 THEKERNEL->robot->arm_solution->actuator_to_cartesian(real_actuator_position, real_position);
                 // Reset the actuator positions to correspond our real position
                 THEKERNEL->robot->reset_axis_position(real_position[0], real_position[1], real_position[2]);
+
             } else {
                 // without endstop trim, real_position == ideal_position
-                // Reset the actuator positions to correspond our real position
-                THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]);
+                if(is_rdelta) {
+                    // with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
+                    THEKERNEL->robot->reset_actuator_position(ideal_position[0], ideal_position[1], ideal_position[2]);
+
+                }else{
+                    // Reset the actuator positions to correspond our real position
+                    THEKERNEL->robot->reset_axis_position(ideal_position[0], ideal_position[1], ideal_position[2]);
+                }
             }
+
         } else {
             // Zero the ax(i/e)s position, add in the home offset
             for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
@@ -750,6 +761,7 @@ void Endstops::on_gcode_received(void *argument)
         // on some systems where 0,0 is bed center it is nice to have home goto 0,0 after homing
         // default is off for cartesian on for deltas
         if(!is_delta) {
+            // NOTE a rotary delta usually has optical or hall-effect endstops so it is safe to go past them a little bit
             if(this->move_to_origin_after_home) move_to_origin(axes_to_move);
             // if limit switches are enabled we must back off endstop after setting home
             back_off_home(axes_to_move);
@@ -779,35 +791,37 @@ void Endstops::on_gcode_received(void *argument)
                 if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
                 if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
                 gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
-
                 break;
 
-            case 306: { // Similar to M206 and G92 but sets Homing offsets based on current position
-                float cartesian[3];
-                THEKERNEL->robot->get_axis_position(cartesian);    // get actual position from robot
-                if (gcode->has_letter('X')) {
-                    home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
-                    THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
-                }
-                if (gcode->has_letter('Y')) {
-                    home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
-                    THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
-                }
-                if (gcode->has_letter('Z')) {
-                    home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
-                    THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
-                }
+            case 306:
+                if(!is_rdelta) { // Similar to M206 and G92 but sets Homing offsets based on current position
+                    float cartesian[3];
+                    THEKERNEL->robot->get_axis_position(cartesian);    // get actual position from robot
+                    if (gcode->has_letter('X')) {
+                        home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
+                        THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
+                    }
+                    if (gcode->has_letter('Y')) {
+                        home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
+                        THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
+                    }
+                    if (gcode->has_letter('Z')) {
+                        home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
+                        THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+                    }
 
-                gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+                    gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
 
-            }
-            break;
+                }else{
+                    gcode->stream->printf("//M306 is not supported on rotary delta, use G92 Zxxx or G5x to set z height\n");
+                }
+                break;
 
             case 500: // save settings
             case 503: // print settings
                 gcode->stream->printf(";Home offset (mm):\nM206 X%1.2f Y%1.2f Z%1.2f\n", home_offset[0], home_offset[1], home_offset[2]);
                 if (this->is_delta || this->is_scara) {
-                    if(!this->is_rdelta) gcode->stream->printf(";Trim (mm):\nM666 X%1.3f Y%1.3f Z%1.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
+                    gcode->stream->printf(";Trim (mm):\nM666 X%1.3f Y%1.3f Z%1.3f\n", trim_mm[0], trim_mm[1], trim_mm[2]);
                     gcode->stream->printf(";Max Z\nM665 Z%1.3f\n", this->homing_position[2]);
                 }
                 if(saved_position[X_AXIS] != 0 || saved_position[Y_AXIS] != 0) {
@@ -815,17 +829,16 @@ void Endstops::on_gcode_received(void *argument)
                 }
                 break;
 
-            case 665: { // M665 - set max gamma/z height
-
-                float gamma_max = this->homing_position[2];
-                if (gcode->has_letter('Z')) {
-                    this->homing_position[2] = gamma_max = gcode->get_value('Z');
+            case 665:
+                if (this->is_delta || this->is_scara) { // M665 - set max gamma/z height
+                    float gamma_max = this->homing_position[2];
+                    if (gcode->has_letter('Z')) {
+                        this->homing_position[2] = gamma_max = gcode->get_value('Z');
+                    }
+                    gcode->stream->printf("Max Z %8.3f ", gamma_max);
+                    gcode->add_nl = true;
                 }
-                gcode->stream->printf("Max Z %8.3f ", gamma_max);
-                gcode->add_nl = true;
-            }
-            break;
-
+                break;
 
             case 666:
                 if(this->is_delta || this->is_scara) { // M666 - set trim for each axis in mm, NB negative mm trim is down

diff --git a/src/modules/utils/simpleshell/SimpleShell.cpp b/src/modules/utils/simpleshell/SimpleShell.cpp
index ae360d6..5dddca2 100644 (file)
--- a/src/modules/utils/simpleshell/SimpleShell.cpp
+++ b/src/modules/utils/simpleshell/SimpleShell.cpp
@@ -255,7 +255,7 @@ void SimpleShell::on_console_line_received( void *argument )
 
         // find command and execute it
         if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
-            new_message.stream->printf("error:Unsupported command\n");
+            new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str());
         }
     }
 }