Andy Baker

I was just having terrible problems with this library on STM32 (STM32F103C8T6), needing a logic analyzer to ferret out the problem, and also a code problem, which was working fine...

https://github.com/bdring/Grbl_Esp32/tree/main/Grbl_Esp32/Custom > parallel_delta.cpp - > Copyright (c) 2019 Barton Dring @buildlog, > Jason Huggins, Tapster Robotics [https://github.com/bdring/Grbl_Esp32/blob/main/Grbl_Esp32/Custom/parallel_delta.cpp](url) These guys wrote a Delta kinematics for ESP32 GRBL - It's got lots...

This is an excellent start. The kinematics have some problems - There seems to be an accumulating error that causes the motors to all move the base AWAY from end...

This is the test robot. The motors have far too much lash, but it's good for testing. It works OK if I pre-process the delta math and send the motor...

I will test this code and get back to you with the results, sorry there may be a small delay though. Glad we have that $DELTA command, will be nice...

Homing works! Well done. For my setup, to get it working, I home my rig, then move the arms by hand (by grabbing them and overcoming the stepper motor, which...

The homing is working brilliantly, as is the homing position parameter. I set mine to -30 degrees and it's working great! Motion does not appear to hang, and behaves well...

And again you deliver amazing work - So here's what I found... It's very close. - Soft limits do not work unless (40) limit jog commands = true - Angle...

It's not just one sensor per bus either - it's just ONE sensor. Period.