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qharley / Morgan

RepRAP Morgan scad source repository
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Straight line drawing #5

Closed MYasirSheikh closed 9 years ago

MYasirSheikh commented 9 years ago

As you know, it's a chunk of code from prepare_move function

Is this part of the code for straight line drawing (since the arm has a tendency of radial movement because of SCARA). If YES, can someone explain me the logic.. I badly need it for some development. help me pleaseeee..

float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds)); for (int s = 1; s <= steps; s++) { float fraction = float(s) / float(steps); for(int8_t i=0; i < NUM_AXIS; i++) { destination[i] = current_position[i] + difference[i] * fraction; } calculate_delta(destination); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); }

for(int8_t i=0; i < NUM_AXIS; i++) { current_position[i] = destination[i]; } }

qharley commented 9 years ago

It has been quite a while since I did any work on marlin... Mostly my fault since I did not know how to keep the software updated and how to do pull requests.

I have since started working on Smoothieware, and it is a much better platform for axial robots like Morgan, especially because of the superior processing ability of the ARM chip.