On 15 Jan 2014, at 15:52, Charles Steinkuehler <char...@steinkuehler.net> wrote:
> On 1/15/2014 7:55 AM, Bas de Bruijn wrote:
>>
>> Hi Charles,
>>
>> I’d like to support you with testing/adding to the lineardeltakins
>> types of 3D printer. I recently added rudimentary M109 and M106 in
>> the linuxcnc/nc_files directory.
>
> Yes, there will be an example of a lineardeltakins configuration in the
> next release. This is long overdue.
>
>> During calibrating I noticed that i should add a variable to change
>> height of the home position in real time. Now i change
>> lineardeltakins.L (rod length) and lineardeltakins.R (radius) via a
>> halcmd in the terminal when tuning the printer. This is needed for
>> getting straight movement in the plane, instead of convex/concave
>> movement. Nice about it is that the position gets adjusted in real
>> time. very nifty and fast for calibrating, no homing in between.
>>
>> The heights of the end positions are still adjusted via the .ini file
>> and i’d like to change them in real time to find the correction, and
>> then once adjust the values in the .ini file. Because changing them
>> means reloading linuxcnc.
>>
>> in addition to the Pinout/Driver board let’s add BeBoPr++ too.
>
> I believe the BeBoPr++ uses the same pins as the BeBoPr+ which is the
> same as the BeBoPr-Bridge, so hopefully one configuration will work with
> all of them, but I don't have details yet.
>
> As for the end positions, some things cannot be changed at runtime via
> HAL (apparently some really old stuff that pre-dates HAL and never got
> migrated to HAL signals/parameters). But you may be able to do what you
> want using G92 offsets. You should at least be able to use G92 to do a
> bit more testing between re-launches of LinuxCNC.
I’m not trying to hijack this thread but I’ll try to explain what I have in
mind.
I use G92 to set the offset the nozzle from the bed. I have not found a way yet
to change the homing height, that pin is not writable. The homing height is
important and have effect on the delta radius. so when i calibrate a machine i
need to do a few iterations.
for now it’s not a problem, but in the future i hope to calibrate more machines
per day (and I’m a lazy guy)
I propose to add calibration functionality in the kinematics module (need to
compile and test it though)
in lineardeltakins.c something like
int kinematicsForward(const double * joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags) {
set_geometry(*haldata->r, *haldata->l, *haldata->off_B_wrt_A,
*haldata->off_C_wrt_A);
return kinematics_forward(joints, pos);
}
int kinematicsInverse(const EmcPose *pos, double *joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags) {
set_geometry(*haldata->r, *haldata->l, *haldata->off_B_wrt_A,
*haldata->off_C_wrt_A);
return kinematics_inverse(pos, joints);
}
int rtapi_app_main(void)
{
…..
…..
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->r, comp_id,
"lineardeltakins.R");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->l, comp_id,
"lineardeltakins.L");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->off_B_wrt_A, comp_id,
"lineardeltakins.off_B_wrt_A");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->off_C_wrt_A, comp_id,
"lineardeltakins.off_C_wrt_A");
if(retval == 0)
{
*haldata->r = DELTA_RADIUS;
*haldata->l = DELTA_DIAGONAL_ROD;
*haldata->off_B_wrt_A = 0;
*haldata->off_C_wrt_A = 0;
}
and then in lineardeltakins-common.h i can take these offset heights to narrow
down the offset height during calibration. Then when i have written them down i
need to change the .ini file once for everything. radius, rod length and homing
heights.
that way i could calibrate everything in one go, via Axis and halcmd in a
terminal.
>
> --
> Charles Steinkuehler
> char...@steinkuehler.net
>
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