初步方案:更改marlin支持dobot结构,,其余可以不用改动。搜索跟宏定义相关的程序部分。
搜索scara定位文件:
1.Conditionals.h
2.configuration.h
3.configuration_store.cpp
4.marlin.h
5.Marlin_main.cpp
6.sanitycheck.h
7.ultralcd.cpp
工作量评估:
4是主要工作量。
粗略整理有:
1.void calculate_SCARA_forward_Transform(float f_scara[3])
// Perform forward kinematics, and place results in delta[3]
2.void calculate_delta(float cartesian[3]) {
//reverse kinematics.
// P
搜索scara定位文件:
1.Conditionals.h
2.configuration.h
3.configuration_store.cpp
4.marlin.h
5.Marlin_main.cpp
6.sanitycheck.h
7.ultralcd.cpp
工作量评估:
4是主要工作量。
粗略整理有:
1.void calculate_SCARA_forward_Transform(float f_scara[3])
// Perform forward kinematics, and place results in delta[3]
2.void calculate_delta(float cartesian[3]) {
//reverse kinematics.
// P