Delta Forward Kinematics (and LOGICAL_POSITION) #4370
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Another place where we need to consider the Adding code for that now… b3eb0c8 |
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I've tested just now, but results of G28 and G29 of DELTA has been exactly same as Yesterday's report again, unfortunately. Commands:
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I remark that it's by seeing the log. At first, Second, Z coordinate of |
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I'm adding more logging! I'll merge the PR within the next few minutes… |
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👍 Congratulations. |
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I got compilation warnings.
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Derived from AnHardt#60
Background: Up to now, if you wanted to get the "current position" of a 3D printer based on the stepper positions, you could only do so on Cartesian, Core, and SCARA. We didn't have that for Delta. So when probing, we generally just looked at the distance traveled to figure out where Z ended up. And after a "quick stop" where the steppers were interrupted, there was no way to recover the current position from a Delta.
Considerations: Whenever we use "sub-systems" that rely on an idealized coordinate system (MBL, kinematics, etc.), we need to subtract the coordinate space offsets before using the coordinates. Otherwise
M206andG92will cause havoc.Solutions:
set_current_from_steppersfunction that works for all kinematics.LOGICAL_POSITIONwhere needed to add offsets to coordinates.RAW_POSITIONwhere needed to remove offsets from coordinates.Additional changes:
DELTA-specific declarations inMarlin_main.cpp.adjust_deltawithSCARA(compile errors).SCARAwith ABL.Z_MIN_PROBE_REPEATABILITY_TEST.