Re: Worm Drive Grounded Delta Printer

@Jon,

I'd like to verify that we have the newest version of the g-code preprocessor, is the math still the same?
What software language is this code written in?
tks!

double La_1;
double La_2;
double La_3;
double Da_1;
double Da_2;
double Da_3;
double Ra_1;
double Ra_2;
double Ra_3;

Ra_1=sqrt(sq(cartesian[X_AXIS]-V1_X)+ sq(cartesian[Y_AXIS]-V1_Y));
Ra_2=sqrt(sq(cartesian[X_AXIS]-V2_X)+ sq(cartesian[Y_AXIS]-V2_Y));
Ra_3=sqrt(sq(cartesian[X_AXIS]-V3_X)+ sq(cartesian[Y_AXIS]-V3_Y));

La_1=sq(Ra_1-Nx+Sx)+sq(cartesian[Z_AXIS]-Sv+Nv1);
La_2=sq(Ra_2-Nx+Sx)+sq(cartesian[Z_AXIS]-Sv+Nv2);
La_3=sq(Ra_3-Nx+Sx)+sq(cartesian[Z_AXIS]-Sv+Nv3);

Da_1=((sqL1L2-La_1)/theta_CEND);
Da_2=((sqL1L2-La_2)/theta_CEND);
Da_3=((sqL1L2-La_3)/theta_CEND);

if (Da_1 <-1 || Da_1 > 1)
{
    Da_1=floor(Da_1);
    SERIAL_ECHOPGM("Arm Limit X\n"); 
}
if (Da_2 <-1 || Da_2 > 1)
{
    Da_2=floor(Da_2);
    SERIAL_ECHOPGM("Arm Limit Y\n"); 
}
if (Da_3 <-1 || Da_3 > 1)
{
    Da_3=floor(Da_3);
    SERIAL_ECHOPGM("Arm Limit Z\n"); 
}
delta[X_AXIS]= acos(Da_1)*rad2ang;
delta[Y_AXIS]= acos(Da_2)*rad2ang;
delta[Z_AXIS]= acos(Da_3)*rad2ang;