Topics created by koaldesigns

@koaldesigns
Here is a simple queue I put together with NodeDSF & BtnCmd. It just simulates each job as its a P.O.C, but it gets the idea across.

Simple Q BtnCmd.png

Short video of it running here

And here is what it looks like in nodered with NodeDSF
Simple Q NodeRed.png

Edit: forgot to add, it triggers the next job in the Q when the system detects a status change to idle.

@chas2706 Updated to 3.2.2 and removed a space i had before the Z numerical field in config.g and my problems have gone away
Good luck

Would it be possible to just set the beta angle to equal the machine position?

if (wristMode == (1 or 2)) beta = machinePos[3] = (((float)motorPos[3]/stepsPerMm[3]) - theta - psi); else beta = machinePos[3] = ((float)motorPos[3]/stepsPerMm[3])

I also don't know if the inverse for wristMode 1 and 2 would be the same, or if there even is a needed inverse kinematic?

Hi, see https://github.com/Duet3D/RepRapFirmware/blob/dev/AddingNewKinematics.md for details. I think your extension to SCARA may not need it's own new class, but that's up to @dc42 to decide I guess.

As discussed elsewhere, there are semicolons in the M669 line. You also need to define axis limits with M208 or the defaults (min:0, max 200) will be applied.

Yeah probably a good idea, I haven't found any SCARA configs for version 3 yet so I may delve into that later today. I need to compile a custom version of it though due to a non-standard kinematic as I have a 3rd rotational axis on the arm.

@dc42 @theruttmeister I can confirm that the homing does not respect crosstalk, it is causing major problems while trying to home from distant arm positions due to the way homing currently works.

Any of my current ideas in the homeall.g file to combine the X and Y homing does not work such as:

G1 H2 X-300 Y-300 F1000

which sometimes works but depending on the arm position can get funky very quickly...

You don't need to build the DuetWiFiSocketServer project, which is the one that is causing most of those messages.

@koaldesigns

I've been working on a scara arm for some time, I'm glad to try the 3rd axis but I don't know how to recompile the firmware to reload on a duet is there a guide? or if it is not so complicated can you explain how to do it? thanks!