Delta firmware and Gcode in the future... January 29, 2013 11:05AM |
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Re: Delta firmware and Gcode in the future... January 29, 2013 03:12PM |
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Re: Delta firmware and Gcode in the future... January 30, 2013 05:31AM |
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Re: Delta firmware and Gcode in the future... January 30, 2013 07:00AM |
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Generation 7 Electronics | Teacup Firmware | RepRap DIY |
Re: Delta firmware and Gcode in the future... January 30, 2013 07:50PM |
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Re: Delta firmware and Gcode in the future... January 31, 2013 04:25PM |
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Re: Delta firmware and Gcode in the future... February 13, 2013 04:30PM |
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float calculate_arm_rotation(float x, float y, int arm_num) { float rot; // Calculate the first arm segment rotation away from the line between the // base axis and target point. rot = acos((SCARA_SEG1_LEN*SCARA_SEG1_LEN - SCARA_SEG2_LEN*SCARA_SEG2_LEN + (x*x + y*y)) / (2 * sqrt(x*x + y*y)) / SCARA_SEG1_LEN) * 180 / M_PI; // From the relative rotation, calculate absolute rotation, taking the // arm number into account to get the elbow rotation on the correct side. return -((arm_num == 1) ? (atan2(y, x) * 180 / M_PI + rot - 90) : (atan2(y, x) * 180 / M_PI - rot - 90)); }
Re: Delta firmware and Gcode in the future... February 13, 2013 06:04PM |
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Re: Delta firmware and Gcode in the future... February 15, 2013 11:56AM |
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