ckochandClaude Opus 5.5
1400cc8afd
- KiCad project generated by pcb/tools (design, route, schematic, fab outputs). - v0.4 fixes the v0.3 review findings: low-dropout 3.3 V regulator, OR'd 5 V supply, polyfuse, USB ESD protection, input clamps, ceramic decoupling at the drivers, A4988/DRV8825 jumper, ground stitching. DRC/ERC clean. - v0.3 (as ordered) kept in pcb/archive/v0.3. - FluidNC config.yaml for the board; rho hard limit on. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
78 lines
2.8 KiB
YAML
78 lines
2.8 KiB
YAML
# FluidNC config for the SandTable Controller v0.3 (ESP32 + 2x DRV8825 at 1/32 step).
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# A starting point: not yet run on real hardware.
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#
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# Units
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# X = theta (arm angle) in DEGREES
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# 200 steps x 32 microsteps x (80T hub / 20T motor pulley) = 25600 steps per arm turn = 71.111 per degree
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# Y = rho (ball distance from the centre) in MM
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# 200 steps x 32 microsteps / (20T GT2 pulley = 40 mm per turn) = 160 steps per mm
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#
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# If an axis turns the wrong way, add :low to its direction_pin (for example gpio.19:low)
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# or flip one coil's plug.
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board: SandTable Controller v0.3
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name: Sand Table
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stepping:
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engine: RMT
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idle_ms: 255 # 255 = never switch the motors off, so the arm can't drift
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pulse_us: 4 # DRV8825 needs at least 1.9 us
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dir_delay_us: 2 # DRV8825 needs at least 0.65 us
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disable_delay_us: 0
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axes:
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shared_stepper_disable_pin: gpio.13 # high = drivers off (a pull-up keeps them off during boot)
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x: # theta, degrees
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steps_per_mm: 71.111
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max_rate_mm_per_min: 3600 # 10 arm turns per minute
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acceleration_mm_per_sec2: 120
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max_travel_mm: 360 # only sets how far $HX searches; theta is unlimited
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soft_limits: false
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homing:
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cycle: 0 # not part of $H. With a hall sensor fitted, home theta by hand with $HX
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positive_direction: true
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mpos_mm: 0
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feed_mm_per_min: 120
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seek_mm_per_min: 720
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settle_ms: 250
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seek_scaler: 1.1
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feed_scaler: 1.1
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motor0:
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limit_neg_pin: NO_PIN
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limit_pos_pin: NO_PIN
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limit_all_pin: gpio.35:low # HALL connector (active low, pulled up on the board)
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hard_limits: false
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pulloff_mm: 5
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stepstick:
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step_pin: gpio.18
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direction_pin: gpio.19
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disable_pin: NO_PIN
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y: # rho, mm
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steps_per_mm: 160
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max_rate_mm_per_min: 1500
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acceleration_mm_per_sec2: 100
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max_travel_mm: 135
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soft_limits: false
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homing:
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cycle: 1 # $H homes rho
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positive_direction: false # the home switch is at the centre end of the arm
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mpos_mm: 3 # switch trips near rho 2 mm, then backs off 1 mm. Tune so Y0 is dead centre
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feed_mm_per_min: 100
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seek_mm_per_min: 600
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settle_ms: 250
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seek_scaler: 1.1
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feed_scaler: 1.1
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motor0:
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limit_neg_pin: gpio.34:low # HOME connector: switch COM to GND (pin 3), NO to signal (pin 2)
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limit_pos_pin: NO_PIN
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limit_all_pin: NO_PIN
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hard_limits: true # patterns stay 1 mm past the switch (rho_min_mm = 3), so a press
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# while drawing means lost steps: FluidNC stops at once by itself
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pulloff_mm: 1
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stepstick:
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step_pin: gpio.27
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direction_pin: gpio.14
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disable_pin: NO_PIN
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