# FluidNC config for the SandTable Controller v0.3 (ESP32 + 2x DRV8825 at 1/32 step).
# A starting point: not yet run on real hardware.
#
# Units
#   X = theta (arm angle) in DEGREES
#       200 steps x 32 microsteps x (80T hub / 20T motor pulley) = 25600 steps per arm turn = 71.111 per degree
#   Y = rho (ball distance from the centre) in MM
#       200 steps x 32 microsteps / (20T GT2 pulley = 40 mm per turn) = 160 steps per mm
#
# If an axis turns the wrong way, add :low to its direction_pin (for example gpio.19:low)
# or flip one coil's plug.

board: SandTable Controller v0.3
name: Sand Table

stepping:
  engine: RMT
  idle_ms: 255            # 255 = never switch the motors off, so the arm can't drift
  pulse_us: 4             # DRV8825 needs at least 1.9 us
  dir_delay_us: 2         # DRV8825 needs at least 0.65 us
  disable_delay_us: 0

axes:
  shared_stepper_disable_pin: gpio.13   # high = drivers off (a pull-up keeps them off during boot)

  x:   # theta, degrees
    steps_per_mm: 71.111
    max_rate_mm_per_min: 3600           # 10 arm turns per minute
    acceleration_mm_per_sec2: 120
    max_travel_mm: 360                  # only sets how far $HX searches; theta is unlimited
    soft_limits: false
    homing:
      cycle: 0                          # not part of $H. With a hall sensor fitted, home theta by hand with $HX
      positive_direction: true
      mpos_mm: 0
      feed_mm_per_min: 120
      seek_mm_per_min: 720
      settle_ms: 250
      seek_scaler: 1.1
      feed_scaler: 1.1
    motor0:
      limit_neg_pin: NO_PIN
      limit_pos_pin: NO_PIN
      limit_all_pin: gpio.35:low        # HALL connector (active low, pulled up on the board)
      hard_limits: false
      pulloff_mm: 5
      stepstick:
        step_pin: gpio.18
        direction_pin: gpio.19
        disable_pin: NO_PIN

  y:   # rho, mm
    steps_per_mm: 160
    max_rate_mm_per_min: 1500
    acceleration_mm_per_sec2: 100
    max_travel_mm: 135
    soft_limits: false
    homing:
      cycle: 1                          # $H homes rho
      positive_direction: false         # the home switch is at the centre end of the arm
      mpos_mm: 3                        # switch trips near rho 2 mm, then backs off 1 mm. Tune so Y0 is dead centre
      feed_mm_per_min: 100
      seek_mm_per_min: 600
      settle_ms: 250
      seek_scaler: 1.1
      feed_scaler: 1.1
    motor0:
      limit_neg_pin: gpio.34:low        # HOME connector: switch COM to GND (pin 3), NO to signal (pin 2)
      limit_pos_pin: NO_PIN
      limit_all_pin: NO_PIN
      hard_limits: true                 # patterns stay 1 mm past the switch (rho_min_mm = 3), so a press
                                        # while drawing means lost steps: FluidNC stops at once by itself
      pulloff_mm: 1
      stepstick:
        step_pin: gpio.27
        direction_pin: gpio.14
        disable_pin: NO_PIN