| 1 | #include "MorganSCARASolution.h" |
| 2 | #include <fastmath.h> |
| 3 | #include "checksumm.h" |
| 4 | #include "ConfigValue.h" |
| 5 | #include "libs/Kernel.h" |
| 6 | //#include "StreamOutputPool.h" |
| 7 | //#include "Gcode.h" |
| 8 | //#include "SerialMessage.h" |
| 9 | //#include "Conveyor.h" |
| 10 | //#include "Robot.h" |
| 11 | //#include "StepperMotor.h" |
| 12 | |
| 13 | #include "libs/nuts_bolts.h" |
| 14 | |
| 15 | #include "libs/Config.h" |
| 16 | |
| 17 | #define arm1_length_checksum CHECKSUM("arm1_length") |
| 18 | #define arm2_length_checksum CHECKSUM("arm2_length") |
| 19 | #define morgan_offset_x_checksum CHECKSUM("morgan_offset_x") |
| 20 | #define morgan_offset_y_checksum CHECKSUM("morgan_offset_y") |
| 21 | #define axis_scaling_x_checksum CHECKSUM("axis_scaling_x") |
| 22 | #define axis_scaling_y_checksum CHECKSUM("axis_scaling_y") |
| 23 | #define morgan_homing_checksum CHECKSUM("morgan_homing") |
| 24 | |
| 25 | #define SQ(x) powf(x, 2) |
| 26 | #define ROUND(x, y) (roundf(x * 1e ## y) / 1e ## y) |
| 27 | |
| 28 | MorganSCARASolution::MorganSCARASolution(Config* config) |
| 29 | { |
| 30 | // arm1_length is the length of the inner main arm from hinge to hinge |
| 31 | arm1_length = config->value(arm1_length_checksum)->by_default(150.0f)->as_number(); |
| 32 | // arm2_length is the length of the inner main arm from hinge to hinge |
| 33 | arm2_length = config->value(arm2_length_checksum)->by_default(150.0f)->as_number(); |
| 34 | // morgan_offset_x is the x offset of bed zero position towards the SCARA tower center |
| 35 | morgan_offset_x = config->value(morgan_offset_x_checksum)->by_default(100.0f)->as_number(); |
| 36 | // morgan_offset_y is the y offset of bed zero position towards the SCARA tower center |
| 37 | morgan_offset_y = config->value(morgan_offset_y_checksum)->by_default(-65.0f)->as_number(); |
| 38 | |
| 39 | init(); |
| 40 | } |
| 41 | |
| 42 | void MorganSCARASolution::init() { |
| 43 | |
| 44 | } |
| 45 | |
| 46 | float MorganSCARASolution::to_degrees(float radians) { |
| 47 | return radians*(180.0F/3.14159265359f); |
| 48 | } |
| 49 | |
| 50 | void MorganSCARASolution::cartesian_to_actuator( float cartesian_mm[], float actuator_mm[] ) |
| 51 | { |
| 52 | |
| 53 | float SCARA_pos[2], |
| 54 | SCARA_C2, |
| 55 | SCARA_S2, |
| 56 | SCARA_K1, |
| 57 | SCARA_K2, |
| 58 | SCARA_theta, |
| 59 | SCARA_psi; |
| 60 | |
| 61 | SCARA_pos[X_AXIS] = cartesian_mm[X_AXIS] - this->morgan_offset_x; //Translate cartesian to tower centric SCARA X Y |
| 62 | SCARA_pos[Y_AXIS] = cartesian_mm[Y_AXIS] - this->morgan_offset_y; // morgan_offset not to be confused with home offset. Makes the SCARA math work. |
| 63 | |
| 64 | if (this->arm1_length == this->arm2_length) |
| 65 | SCARA_C2 = (SQ(SCARA_pos[X_AXIS])+SQ(SCARA_pos[Y_AXIS])-2.0f*SQ(this->arm1_length)) / (2.0f * SQ(this->arm1_length)); |
| 66 | else |
| 67 | SCARA_C2 = (SQ(SCARA_pos[X_AXIS])+SQ(SCARA_pos[Y_AXIS])-SQ(this->arm1_length)-SQ(this->arm2_length)) / (2.0f * SQ(this->arm1_length)); |
| 68 | |
| 69 | // SCARA position is undefined if abs(SCARA_C2) >=1 |
| 70 | // In reality abs(SCARA_C2) >0.95 is problematic. |
| 71 | |
| 72 | if (SCARA_C2 > 0.95f) |
| 73 | SCARA_C2 = 0.95f; |
| 74 | else if (SCARA_C2 < -0.95f) |
| 75 | SCARA_C2 = -0.95f; |
| 76 | |
| 77 | |
| 78 | SCARA_S2 = sqrtf(1.0f-SQ(SCARA_C2)); |
| 79 | |
| 80 | SCARA_K1 = this->arm1_length+this->arm2_length*SCARA_C2; |
| 81 | SCARA_K2 = this->arm2_length*SCARA_S2; |
| 82 | |
| 83 | SCARA_theta = (atan2f(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2f(SCARA_K1, SCARA_K2))*-1.0f; // Morgan Thomas turns Theta in oposite direction |
| 84 | SCARA_psi = atan2f(SCARA_S2,SCARA_C2); |
| 85 | |
| 86 | |
| 87 | actuator_mm[ALPHA_STEPPER] = to_degrees(SCARA_theta); // Multiply by 180/Pi - theta is support arm angle |
| 88 | actuator_mm[BETA_STEPPER ] = to_degrees(SCARA_theta + SCARA_psi); // Morgan kinematics (dual arm) |
| 89 | //actuator_mm[BETA_STEPPER ] = to_degrees(SCARA_psi); // real scara |
| 90 | actuator_mm[GAMMA_STEPPER] = cartesian_mm[Z_AXIS]; // No inverse kinematics on Z - Position to add bed offset? |
| 91 | |
| 92 | } |
| 93 | |
| 94 | void MorganSCARASolution::actuator_to_cartesian( float actuator_mm[], float cartesian_mm[] ) { |
| 95 | // Perform forward kinematics, and place results in cartesian_mm[] |
| 96 | |
| 97 | float y1, y2, |
| 98 | actuator_rad[2]; |
| 99 | |
| 100 | actuator_rad[X_AXIS] = actuator_mm[X_AXIS]/(180.0F/3.14159265359f); |
| 101 | actuator_rad[Y_AXIS] = actuator_mm[Y_AXIS]/(180.0F/3.14159265359f); |
| 102 | |
| 103 | y1 = sinf(actuator_rad[X_AXIS])*this->arm1_length; |
| 104 | y2 = sinf(actuator_rad[Y_AXIS])*this->arm2_length + y1; |
| 105 | |
| 106 | cartesian_mm[X_AXIS] = cosf(actuator_rad[X_AXIS])*this->arm1_length + cosf(actuator_rad[Y_AXIS])*this->arm2_length + this->morgan_offset_x; |
| 107 | cartesian_mm[Y_AXIS] = y2 + this->morgan_offset_y; |
| 108 | cartesian_mm[Z_AXIS] = actuator_mm[Z_AXIS]; |
| 109 | |
| 110 | cartesian_mm[0] = ROUND(cartesian_mm[0], 4); |
| 111 | cartesian_mm[1] = ROUND(cartesian_mm[1], 4); |
| 112 | cartesian_mm[2] = ROUND(cartesian_mm[2], 4); |
| 113 | } |
| 114 | |
| 115 | bool MorganSCARASolution::set_optional(const arm_options_t& options) { |
| 116 | |
| 117 | arm_options_t::const_iterator i; |
| 118 | |
| 119 | i= options.find('T'); // Theta arm1 length |
| 120 | if(i != options.end()) { |
| 121 | arm1_length= i->second; |
| 122 | |
| 123 | } |
| 124 | i= options.find('P'); // Psi arm2 length |
| 125 | if(i != options.end()) { |
| 126 | arm2_length= i->second; |
| 127 | } |
| 128 | i= options.find('X'); // Home initial position X |
| 129 | if(i != options.end()) { |
| 130 | morgan_offset_x= i->second; |
| 131 | } |
| 132 | i= options.find('Y'); // Home initial position Y |
| 133 | if(i != options.end()) { |
| 134 | morgan_offset_y= i->second; |
| 135 | } |
| 136 | |
| 137 | init(); |
| 138 | return true; |
| 139 | } |
| 140 | |
| 141 | bool MorganSCARASolution::get_optional(arm_options_t& options) { |
| 142 | options['T']= this->arm1_length; |
| 143 | options['P']= this->arm2_length; |
| 144 | options['X']= this->morgan_offset_x; |
| 145 | options['Y']= this->morgan_offset_y; |
| 146 | return true; |
| 147 | }; |