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Traumflug / Teacup_Firmware

Firmware for RepRap and other 3D printers
http://forums.reprap.org/read.php?147
GNU General Public License v2.0
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RobertKuhlmann, the Morgan-Man #97

Open Traumflug opened 10 years ago

Traumflug commented 10 years ago

Say hello to @RobertKuhlmann, I just added him as collaborator. Feel welcome, Robert.

Robert's interest is apparently in Scara-type printers, especially the RepRap Morgan. As this requires different distance calculations, he already opened the scara branch. Excellent, and good luck!

RobertKuhlmann commented 10 years ago

Thank you very much for this warm welcome.

I'll try to complete the scara-implementation as soon as possible, because I want to start a second Teacup-branch, a scara-preprocessor as an alternative with better print-speeds for scara-printers.

Everybody is invited to have a look at my results and to contribute, of course.

I've uploaded my first implementations for scara-type printers. Actually I'm verifying the new code. First new issue: I've to take homing into account, because on a scara-printer x- and y-axis need a special treatment on homing. An axis may reach its end-stop during home-movement, while the nozzle actually didn't reach the home-position. This is the case because the correlation between the print-space x/y-coordinates and the scara-arm-positions aren't linear.

Greetings to all Teacup-colleagues

Traumflug commented 10 years ago

I've to take homing into account, because on a scara-printer x- and y-axis need a special treatment on homing. An axis may reach its end-stop during home-movement, while the nozzle actually didn't reach the home-position.

As long as endstops are mounted on the axes and not on the print head I see no problem here. Teacup homes one axis at a time, like most other firmwares. I can't find a picture which shows Morgan's endstops, though, so I'm not sure.

RobertKuhlmann commented 10 years ago

I've opened an issue for that. You'll find the explanation over there: https://github.com/Traumflug/Teacup_Firmware/issues/98

The endstops of Psi- and Theta-axis (representing the x- and y-axis in the scara-world) are placed on the driving wheels, that move the outer tube (for Psi-movements) and the inner rod (for Theta-movements). In normal operation the endstops have to be ignored, because they don't marl a physical limit for the movement, but the home-position exclusively. Another point I have to take into account.

"Arbeit zieht Arbeit nach sich."

Traumflug commented 10 years ago

As written in the the CoreXY issue, I've implemented sort of an general infrastructure to support distinct kinematics over the last few days. CoreXY was convenient for this, because it's math is so trivial. That said, I hope Scara fits into this structure, too. I've already added a few (commented) lines of code in dda_kinematics.c/.h.

Any chance you'd rebase the scara branch onto current experimental, @RobertKuhlmann ? Rebasing, please, not merging, because with merging the change becomes just one big diff instead of a commit-by-commit development. On how to rebase efficiently, see issue #81.