/Marlin/src/module/delta.h
C Header | 133 lines | 38 code | 15 blank | 80 comment | 1 complexity | 5bbc6af5a3535ec55b7caa35c1e76736 MD5 | raw file
Possible License(s): GPL-3.0
- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
- /**
- * delta.h - Delta-specific functions
- */
- #ifndef __DELTA_H__
- #define __DELTA_H__
- extern float delta_height,
- delta_endstop_adj[ABC],
- delta_radius,
- delta_diagonal_rod,
- delta_segments_per_second,
- delta_calibration_radius,
- delta_tower_angle_trim[ABC];
- extern float delta_tower[ABC][2],
- delta_diagonal_rod_2_tower[ABC],
- delta_clip_start_height;
- /**
- * Recalculate factors used for delta kinematics whenever
- * settings have been changed (e.g., by M665).
- */
- void recalc_delta_settings();
- /**
- * Delta Inverse Kinematics
- *
- * Calculate the tower positions for a given machine
- * position, storing the result in the delta[] array.
- *
- * This is an expensive calculation, requiring 3 square
- * roots per segmented linear move, and strains the limits
- * of a Mega2560 with a Graphical Display.
- *
- * Suggested optimizations include:
- *
- * - Disable the home_offset (M206) and/or position_shift (G92)
- * features to remove up to 12 float additions.
- *
- * - Use a fast-inverse-sqrt function and add the reciprocal.
- * (see above)
- */
- #if ENABLED(DELTA_FAST_SQRT) && defined(__AVR__)
- /**
- * Fast inverse sqrt from Quake III Arena
- * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
- */
- float Q_rsqrt(float number);
- #define _SQRT(n) (1.0f / Q_rsqrt(n))
- #else
- #define _SQRT(n) SQRT(n)
- #endif
- // Macro to obtain the Z position of an individual tower
- #define DELTA_Z(V,T) V[Z_AXIS] + _SQRT( \
- delta_diagonal_rod_2_tower[T] - HYPOT2( \
- delta_tower[T][X_AXIS] - V[X_AXIS], \
- delta_tower[T][Y_AXIS] - V[Y_AXIS] \
- ) \
- )
- #define DELTA_IK(V) do { \
- delta[A_AXIS] = DELTA_Z(V, A_AXIS); \
- delta[B_AXIS] = DELTA_Z(V, B_AXIS); \
- delta[C_AXIS] = DELTA_Z(V, C_AXIS); \
- }while(0)
- void inverse_kinematics(const float raw[XYZ]);
- /**
- * Calculate the highest Z position where the
- * effector has the full range of XY motion.
- */
- float delta_safe_distance_from_top();
- /**
- * Delta Forward Kinematics
- *
- * See the Wikipedia article "Trilateration"
- * https://en.wikipedia.org/wiki/Trilateration
- *
- * Establish a new coordinate system in the plane of the
- * three carriage points. This system has its origin at
- * tower1, with tower2 on the X axis. Tower3 is in the X-Y
- * plane with a Z component of zero.
- * We will define unit vectors in this coordinate system
- * in our original coordinate system. Then when we calculate
- * the Xnew, Ynew and Znew values, we can translate back into
- * the original system by moving along those unit vectors
- * by the corresponding values.
- *
- * Variable names matched to Marlin, c-version, and avoid the
- * use of any vector library.
- *
- * by Andreas Hardtung 2016-06-07
- * based on a Java function from "Delta Robot Kinematics V3"
- * by Steve Graves
- *
- * The result is stored in the cartes[] array.
- */
- void forward_kinematics_DELTA(float z1, float z2, float z3);
- FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
- forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
- }
- bool home_delta();
- #endif // __DELTA_H__