1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 22, 2015 07:54PM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 22, 2015 10:51PM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 23, 2015 06:45AM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 27, 2015 03:31PM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 28, 2015 05:55AM |
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Generation 7 Electronics | Teacup Firmware | RepRap DIY |
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 28, 2015 09:02AM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 28, 2015 09:45AM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? June 28, 2015 11:16AM |
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Nicholas.Seward
Re: Ideas for the next Wally.
Postby Nicholas Seward » Wed Apr 15, 2015 3:23 am
Here are the kinematics for all the cases. They are all pretty simple and as I said in the last post the effects of miscalibration all look about the same.
Variable Definitions
L=length of arm
ma=mechanical advantage (This is what could be miscalibrated if you drive the machine with string.)
(r,theta)=polar coordinates
(a,b)=stepper positions
Inverse Kinematics
Case 1:
a=(theta-acos(r/(2*L)))*ma;
b=(theta+acos(r/(2*L)))*ma;
Forward Kinematics (Needed for end stop detection.)
Case 1:
r=2*L*cos((b-a)/(2*ma));
theta=(a+b)/(2*ma);
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 14, 2015 09:45AM |
Registered: 8 years ago Posts: 1,035 |
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 16, 2015 07:02PM |
Registered: 8 years ago Posts: 1,035 |
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realthor
@DC42: Was this info useful in any way? What RepRapFirmware are you talking about exactly?
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 17, 2015 01:53PM |
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Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 18, 2015 06:24AM |
Registered: 13 years ago Posts: 7,616 |
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realthor
The git webpage of the scara branch sais " This branch is 10 commits ahead, 224 commits behind master".
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realthor
1) Can I just copy the configtool from Master to scara branch?
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realthor
2) The board I am trying to use is a Sanguinolulu that has its chip changed to an Atmega1284p yet I don't see anywhere any file that would suggest this chip is covered.
#if ! ( defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) ) #error Sanguinololu has a 644P/644PA! set your cpu type in Makefile! #endifby this:
#ifndef __AVR_ATmega644__ #ifndef __AVR_ATmega644P__ #ifndef __AVR_ATmega1284P__ #error Sanguinololu has an ATmega 644, 644P or 1284P. Set your CPU type in the \ Makefile or select your board in the Arduino IDE! #endif #endif #endif
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realthor
How should I proceed to manage to compile a firmware and upload to the board?
sudo apt-get install geany make avrdude gcc-avr avr-libc cp config.sanguinololu-v1.2.h config.h cp Makefile-AVR Makefilethen to use geany to adjust the Makefile (lots of comments in there on how to do this), to build and to upload:
geany Makefile # for editing, then save make make program
Generation 7 Electronics | Teacup Firmware | RepRap DIY |
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 18, 2015 12:24PM |
Registered: 8 years ago Posts: 1,035 |
config.h:382:58: error: ‘THERMISTOR_BED’ undeclared here (not in a function) DEFINE_TEMP_SENSOR(bed, TT_THERMISTOR, AIO6, THERMISTOR_BED) ^ temp.c:54:102: note: in definition of macro ‘DEFINE_TEMP_SENSOR’ #define DEFINE_TEMP_SENSOR(name, type, pin, additional) { (type), (pin ## _ADC), (HEATER_ ## name), (additional) }, ^
Re: 1-Arm SCARA support in firmware? Which one? Smoothieware best for SCARA? July 18, 2015 01:03PM |
Registered: 8 years ago Posts: 1,035 |
// Names for our tables, so you can use them in config.h. // Table numbering starts at 0. #define THERMISTOR_EXTRUDER 0 #define THERMISTOR_BED 0 // <-- added this
dda.c: In function ‘dda_create’: dda.c:226:5: error: ‘DDA’ has no member named ‘delta_um’ dda->delta_um[X] = abs32(tmp_steps_x - startpoint_steps.axis[X]); ^ dda.c:228:5: error: ‘DDA’ has no member named ‘delta_um’ dda->delta_um[Y]= abs32(tmp_steps_y - startpoint_steps.axis[Y]); ^
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Traumflug
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theothermike
dda.c:226: error: 'DDA' has no member named 'delta_um'
dda.c:228: error: 'DDA' has no member named 'delta_um'
Try with LOOKAHEAD defined as well. It's in config.h.