{"action":"created","issue":{"url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/989","repository_url":"https://api.github.com/repos/Smoothieware/Smoothieware","labels_url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/989/labels{/name}","comments_url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/989/comments","events_url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/989/events","html_url":"https://github.com/Smoothieware/Smoothieware/pull/989","id":168190513,"number":989,"title":"Feature/abc axis","user":{"login":"wolfmanjm","id":22263,"avatar_url":"https://avatars.githubusercontent.com/u/22263?v=3","gravatar_id":"","url":"https://api.github.com/users/wolfmanjm","html_url":"https://github.com/wolfmanjm","followers_url":"https://api.github.com/users/wolfmanjm/followers","following_url":"https://api.github.com/users/wolfmanjm/following{/other_user}","gists_url":"https://api.github.com/users/wolfmanjm/gists{/gist_id}","starred_url":"https://api.github.com/users/wolfmanjm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wolfmanjm/subscriptions","organizations_url":"https://api.github.com/users/wolfmanjm/orgs","repos_url":"https://api.github.com/users/wolfmanjm/repos","events_url":"https://api.github.com/users/wolfmanjm/events{/privacy}","received_events_url":"https://api.github.com/users/wolfmanjm/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2016-07-28T20:36:46Z","updated_at":"2016-08-07T23:40:44Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/Smoothieware/Smoothieware/pulls/989","html_url":"https://github.com/Smoothieware/Smoothieware/pull/989","diff_url":"https://github.com/Smoothieware/Smoothieware/pull/989.diff","patch_url":"https://github.com/Smoothieware/Smoothieware/pull/989.patch"},"body":"Add A B C axis to gcode parser.\r\n\r\nIn order to use there should be no extruders defined.\r\nThe new axis are defined using...\r\n\r\n```\r\n# A axis\r\ndelta_steps_per_mm                    100     # may be steps per degree for example\r\ndelta_step_pin                               xx              # Pin for delta stepper step signal\r\ndelta_dir_pin                                xx             # Pin for delta stepper direction\r\ndelta_en_pin                                 xx             # Pin for delta enable\r\ndelta_current                                1.5              # Z stepper motor current\r\ndelta_max_rate                               300.0            # mm/min\r\ndelta_acceleration                          500.0            # mm/sec²\r\n\r\n# B axis\r\nepsilon_steps_per_mm                    100     # may be steps per degree for example\r\nepsilon_step_pin                              xx              # Pin for delta stepper step signal\r\nepsilon_dir_pin                                xx             # Pin for delta stepper direction\r\nepsilon_en_pin                                xx             # Pin for delta enable\r\nepsilon_current                                1.5              # Z stepper motor current\r\nepsilon_max_rate                               300.0            # mm/min\r\nepsilon_acceleration                          500.0            # mm/sec²\r\n\r\n# C axis\r\nzeta_steps_per_mm                    100     # may be steps per degree for example\r\nzeta_step_pin                               xx              # Pin for delta stepper step signal\r\nzeta_dir_pin                                xx             # Pin for delta stepper direction\r\nzeta_en_pin                                 xx             # Pin for delta enable\r\nzeta_current                                1.5              # Z stepper motor current\r\nzeta_max_rate                               300.0            # mm/min\r\nzeta_acceleration                          500.0            # mm/sec²\r\n```\r\n\r\nThe firmware must be compiled with ```make AXIS=6``` or ```make AXIS=4``` depending on how many axis are needed. (Use minimum needed).\r\n\r\n```get pos``` will show the A B C axis positions\r\n\r\n```G28.3 A0 B0 C0``` will set the axis to the specified values (sort of manual homing)\r\n\r\n**NOTE** that the parameters passed into A B or C in a G0 or G1 are raw, they do not go through the arm solution, they are the values that will be passed to the stepper based on steps_per_mm for that axis (although it may be interpreted as steps per degree for instance).\r\n\r\nThis may not be a complete solution, the planner treats  X Y Z as primary axis, A B C are not treated as primary axis, there is no junction deviation applied to them for instance, and if they move a significant number of steps more than X Y Z there may be speed issues."},"comment":{"url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/comments/238116445","html_url":"https://github.com/Smoothieware/Smoothieware/pull/989#issuecomment-238116445","issue_url":"https://api.github.com/repos/Smoothieware/Smoothieware/issues/989","id":238116445,"user":{"login":"wolfmanjm","id":22263,"avatar_url":"https://avatars.githubusercontent.com/u/22263?v=3","gravatar_id":"","url":"https://api.github.com/users/wolfmanjm","html_url":"https://github.com/wolfmanjm","followers_url":"https://api.github.com/users/wolfmanjm/followers","following_url":"https://api.github.com/users/wolfmanjm/following{/other_user}","gists_url":"https://api.github.com/users/wolfmanjm/gists{/gist_id}","starred_url":"https://api.github.com/users/wolfmanjm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wolfmanjm/subscriptions","organizations_url":"https://api.github.com/users/wolfmanjm/orgs","repos_url":"https://api.github.com/users/wolfmanjm/repos","events_url":"https://api.github.com/users/wolfmanjm/events{/privacy}","received_events_url":"https://api.github.com/users/wolfmanjm/received_events","type":"User","site_admin":false},"created_at":"2016-08-07T23:40:44Z","updated_at":"2016-08-07T23:40:44Z","body":"@cojarbi it will be steps/degree, but you use the steps_per_mm config to set it. SHoul dbe fairly easy to set, most steppers are 200*micro_steps per 360° multiply by any gearing you have and divide by 360 and you have steps per degree."}}
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