Merge branch 'main' of https://github.com/0x23/MicroManipulatorStepper

README.md

@@ -19,6 +19,12 @@ A 'magnetic gearing' approach increases the resolution of the low-cost magnetic
 The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects.
 The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
 
+
+## 💬 NEW: Discord Server
+
+Visit the projects community [Discord Server](https://discord.gg/maRvMVpa2Q) to meet and discuss subjects related to the project,
+get help for the build or share ideas and applications. 
+
 ## 🐍 NEW: Python-API
 
 The lightweight Python API handles all serial communication and provides convenient command execution and debug message printing.
@@ -163,5 +169,14 @@ The client must wait for an acknowledgment from the previous command before send
 
 *Note: The communication protocol uses 3D vectors for rotations. The direction represents the rotation axis and the length of the vector represents the angle of rotation around the axis.
 
+## ❤️ Support
+
+If you'd like to support this project, consider the following:
+
+- **Contribute to the build guide** – Help improve or expand the build instructions by submitting pull requests or opening issues with suggestions.
+- **Characterize typical radial stepper motor shaft error motion** – Measure radial error motion of the shaft of multiple Nema-17 stepper motors (see Cylos Garage for more information about the subject: https://www.youtube.com/watch?v=gt2gK-oxy5s).
+- **Give feedback on the build experience** – Let us know what worked, what didn’t, and how the process could be smoother for others.
+- **Support the project on Ko-fi** – If you find this project valuable, you can support it financially via [Ko-fi](https://ko-fi.com/diffractionlimited) ☕.
+
 ## Youtube Video
 [![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)

documentation/build_guides/buildguide_3dof.md

@@ -0,0 +1,16 @@
+# Open MircoManipulator 3DOF - Build Guide
+
+This document shall provide an easy to follow build guide and help with material selection like glues/magnets and so on.
+The following structure is just a placeholder, feel free to contribute...
+
+## Introduction
+
+## Bill of Materials
+
+## Components
+### Mechanical Parts
+### Magnet Selection
+
+## Balljoints
+## Assembly
+

electronics/.gitignore

@@ -24,3 +24,10 @@ fp-info-cache
 
 # Footprint association file (exported from Pcbnew)
 *.cmp
+
+# Kicad default backup folder
+*-backups/
+
+# Gerber files
+*.g*
+*.drl

firmware/MotionControllerRP/platformio.ini

@@ -25,4 +25,5 @@
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git
 board = rpipico2 # RP2530
 # board = rpipico # RP2040
-framework = arduino
+framework = arduino
+lib_deps = mryslab/NeoPixelConnect

firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.h

@@ -9,11 +9,11 @@
 
 class Pose6DF;
 
-//--- IKinemtaicModel -------------------------------------------------------------------
+//--- IKinematicModel -------------------------------------------------------------------
 
-class IKinemtaicModel {
+class IKinematicModel {
   public:
-    virtual ~IKinemtaicModel() {};
+    virtual ~IKinematicModel() {};
 
     // returns the number of joints
     virtual int get_joint_count();

firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.h

@@ -16,9 +16,9 @@
 
 class Pose6DF;
 
-//--- KinemtaicModel_Delta3D ------------------------------------------------------------
+//--- KinematicModel_Delta3D ------------------------------------------------------------
 
-class KinematicModel_Delta3D : public IKinemtaicModel {
+class KinematicModel_Delta3D : public IKinematicModel {
   public:
     KinematicModel_Delta3D();
 
@@ -46,4 +46,4 @@ bool circle_sphere_intersection(double r1, const Vec3F& p, double r2, Vec3F inte
 bool three_sphere_intersection(const Vec3F& p1, float r1,
                                const Vec3F& p2, float r2,
                                const Vec3F& p3, float r3,
-                               Vec3F intersections[2]);
+                               Vec3F intersections[2]);

firmware/MotionControllerRP/src/main.cpp

@@ -18,7 +18,7 @@
 #include "robot.h"
 #include "utilities/logging.h"
 #include "utilities/frequency_counter.h"
-#include "kinemtaic_models/kinematic_model_delta3d.h"
+#include "kinematic_models/kinematic_model_delta3d.h"
 #include "version.h"
 #include "hw_config.h"
 #include "LittleFS.h"
@@ -160,4 +160,4 @@ void setup() {
 
 void loop() {
   main_core0();
-}
+}

firmware/MotionControllerRP/src/motion_control/path_planner.cpp

@@ -12,7 +12,7 @@
 
 #include <algorithm>
 
-PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
+PathPlanner::PathPlanner(IKinematicModel* kinematic_model, float time_step) {
   PathPlanner::segment_time_step = time_step;
   PathPlanner::kinematic_model = kinematic_model;
 
@@ -23,7 +23,7 @@ PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
 PathPlanner::~PathPlanner() {
 }
 
-void PathPlanner::set_kinematic_model(IKinemtaicModel* kinematic_model) {
+void PathPlanner::set_kinematic_model(IKinematicModel* kinematic_model) {
   PathPlanner::kinematic_model = kinematic_model;
 }
 

firmware/MotionControllerRP/src/motion_control/path_planner.h

@@ -14,7 +14,7 @@
 
 //*** CLASS *****************************************************************************
 
-class IKinemtaicModel;
+class IKinematicModel;
 
 //--- PathPlanner -----------------------------------------------------------------------
 
@@ -24,11 +24,11 @@ class PathPlanner {
     static constexpr int JS_QUEUE_SIZE = 32;
     
   public:
-    PathPlanner(IKinemtaicModel* kinematic_model, float time_step);
+    PathPlanner(IKinematicModel* kinematic_model, float time_step);
     ~PathPlanner();
 
     // sets the kinematic model for foreward and inverse kinematic calculations
-    void set_kinematic_model(IKinemtaicModel* kinematic_model);
+    void set_kinematic_model(IKinematicModel* kinematic_model);
 
     // adds a new cartesian space path segment to the planner queue
     bool add_cartesian_path_segment(const CartesianPathSegment& path_segment);
@@ -67,7 +67,7 @@ class PathPlanner {
     RingBuffer<CartesianPathSegment, CT_QUEUE_SIZE> ct_path_segment_queue;
     RingBuffer<JointSpacePathSegment, JS_QUEUE_SIZE> js_path_segment_queue;
 
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
     JointSpacePathSegmentGenerator* segment_generator = nullptr;
     float segment_time_step;
     LinearAngular junction_deviation;

firmware/MotionControllerRP/src/motion_control/path_segment.cpp

@@ -7,7 +7,7 @@
 
 #include "path_segment.h"
 #include "utilities/logging.h"
-#include "kinemtaic_models/kinematic_model_base.h"
+#include "kinematic_models/kinematic_model_base.h"
 
 //--- MotionProfileConstAcc -------------------------------------------------------------
 
@@ -248,7 +248,7 @@ bool JointSpacePathSegment::is_initialized() {
 
 JointSpacePathSegmentGenerator::JointSpacePathSegmentGenerator(
   const CartesianPathSegment* path_segment,
-  IKinemtaicModel* kinematic_model,
+  IKinematicModel* kinematic_model,
   float time_step)
 {
   JointSpacePathSegmentGenerator::path_segment = path_segment;

firmware/MotionControllerRP/src/motion_control/path_segment.h

@@ -17,7 +17,7 @@ constexpr int NUM_JOINTS = 3;
 
 //*** CLASS *****************************************************************************
 
-class IKinemtaicModel;
+class IKinematicModel;
 
 //--- JointInfo -------------------------------------------------------------------------
 
@@ -127,7 +127,7 @@ class JointSpacePathSegmentGenerator {
   public:
     JointSpacePathSegmentGenerator(
       const CartesianPathSegment* path_segment,
-      IKinemtaicModel* kinematic_model,
+      IKinematicModel* kinematic_model,
       float time_step
     );
 
@@ -143,6 +143,6 @@ class JointSpacePathSegmentGenerator {
     float current_joint_pos[NUM_JOINTS];  // current joint positions
 
     const CartesianPathSegment* path_segment = nullptr;
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
 };
 

firmware/MotionControllerRP/src/robot.cpp

@@ -10,7 +10,7 @@
 #include "hw_config.h"
 #include "utilities/logging.h"
 #include "utilities/utilities.h"
-#include "kinemtaic_models/kinematic_model_delta3d.h"
+#include "kinematic_models/kinematic_model_delta3d.h"
 #include "servo_control/homing_controller.h"
 #include "servo_control/actuator_calibration.h"
 #include "pico/multicore.h"
@@ -782,4 +782,4 @@ void Robot::process_calibrate_joint_command(const GCodeCommand& cmd, std::string
 
   bool ok = calibrate_joint(idx, store_calibration, print_measurements);
   reply = ok ? "ok\n" : "error\n";
-}
+}

firmware/MotionControllerRP/src/robot.h

@@ -130,7 +130,7 @@ class Robot : public ICommandProcessor {
     RobotJoint* volatile joints[NUM_JOINTS];
     spin_lock_t* joints_spin_lock = nullptr;
 
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
     PathPlanner path_planner;
     MotionController motion_controller;
     CommandParser command_parser;
@@ -146,4 +146,4 @@ class Robot : public ICommandProcessor {
 
     FrequencyCounter servo_loop_frequency_counter;
     FrequencyCounter motion_controller_frequency_counter;
-};
+};