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Adjust parameters cable-guide

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Adjust some parameters while testing cable guide with new Reel V2.2.2
Guides quite well with current setup, calculated diameter (layer heights)
matches quite good now
This commit is contained in:
jonny_l480 2024-03-09 22:26:26 +01:00
parent e65350f643
commit 4c149a7743
2 changed files with 6 additions and 5 deletions
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10
main/guide-stepper.cpp
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@ -24,13 +24,14 @@ extern "C"
#define STEPPER_TEST_TRAVEL 65 //mm #define STEPPER_TEST_TRAVEL 65 //mm
#define MIN_MM 0 #define MIN_MM 0
#define MAX_MM 103 #define MAX_MM 97 //actual reel is 110, but currently guide turned out to stay at max position for too long TODO: cad: guide rolls closer together
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM #define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM #define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
#define SPEED_MIN 2.0 //mm/s #define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s #define SPEED_MAX 70.0 //mm/s
#define LAYER_THICKNESS_MM 5 //height of one cable layer on reel -> increase in radius
#define D_CABLE 6 #define D_CABLE 6
#define D_REEL 160 #define D_REEL 160
#define PI 3.14159 #define PI 3.14159
@ -299,6 +300,7 @@ void task_stepper_ctl(void *pvParameter)
// set locally stored axis position and counted layers to 0 (used for calculating the target axis coordinate and steps) // set locally stored axis position and counted layers to 0 (used for calculating the target axis coordinate and steps)
posNow = 0; posNow = 0;
layerCount = 0; layerCount = 0;
currentAxisDirection = RIGHT;
ESP_LOGW(TAG, "at position 0, reset variables, resuming normal cable guiding operation"); ESP_LOGW(TAG, "at position 0, reset variables, resuming normal cable guiding operation");
} }
@ -315,8 +317,8 @@ void task_stepper_ctl(void *pvParameter)
//calculate steps to move //calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER; cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
// diameter increases each layer // effective diameter increases each layer
currentDiameter = D_REEL + D_CABLE * layerCount; //TODO actually increases in radius per layer -> shoud be x2, but layer is not exactly 1D thick => test this currentDiameter = D_REEL + LAYER_THICKNESS_MM * 2 * layerCount;
turns = cableLen / (PI * currentDiameter); turns = cableLen / (PI * currentDiameter);
travelMm = turns * D_CABLE; travelMm = turns * D_CABLE;
travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps

1
sdkconfig
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@ -415,7 +415,6 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
# CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set
CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y
CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4
# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set
# end of MAC Config # end of MAC Config
# #