Make delta arm length ('re') adjustable in machine.xml

TinWhiskers / openpnptw

Open Source SMT Pick and Place Hardware and Software

http://openpnp.org

GNU General Public License v3.0

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Make delta arm length ('re') adjustable in machine.xml #23

Open FlyingLotus1983 opened 9 years ago

FlyingLotus1983 commented 9 years ago

Need to make delta arm length adjustable, since the beta arms weren't fixtured properly.

Make it an attribute so the serializer can make use of it, if present
Make it optional, and default to 270mm if not present in the XML.

FlyingLotus1983 commented 9 years ago

This issue blocks #21

vonnieda commented 9 years ago

This is already in the codebase. See https://github.com/TinWhiskers/openpnp/blob/develop/src/main/java/org/firepick/kinematics/RotatableDeltaKinematicsCalculator.java. All of the delta params are configurable.

On Fri, Sep 25, 2015 at 5:23 PM, Neil Jansen notifications@github.com wrote:

This issue blocks #21 https://github.com/TinWhiskers/openpnp/issues/21

— Reply to this email directly or view it on GitHub https://github.com/TinWhiskers/openpnp/issues/23#issuecomment-143168488.

FlyingLotus1983 commented 9 years ago

Awesome, didn't know that all of those params got made into serializable attributes. The default should probably be 270 though, because that's what they were supposed be, barring any fixture mishaps. I believe that we were using 268 because that was the average of the arms on your machine.

I'm bumping this down to low priority because it's configurable and that's all that matters at the end of the day.