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Have the setup kit work out the centre a geared-up rig needs

This commit is contained in:
pgdalmeida 2026-09-21 23:07:44 +02:00
parent 57a166c9a4
commit 7ef2abcd4a
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
2 changed files with 36 additions and 0 deletions
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17
docs/tower-installation.md
View File

@ -271,6 +271,23 @@ again; too weak and the motor stalls on ordinary friction mid-sweep, trips the
same latch, and records a phantom endstop. The firmware's `steps_per_rev` guard same latch, and records a phantom endstop. The firmware's `steps_per_rev` guard
is what catches the second case, so it has to be set from the real travel. is what catches the second case, so it has to be set from the real travel.
> **The centre lives in `config.ini`, not here.** `install.sh` cannot write it —
> `hardware.ini` is merged *over* `config.ini` and wins, so a shared key would
> silently discard whatever `gimbal heading setup` had saved. What it does instead
> is work the requirement out from `steps_per_rev` and print it as a `NOTE` in the
> block, because the default is wrong for any geared-up rig:
>
> ```
> ; NOTE: half this travel is 605389 counts, so config.ini needs
> ; [Motor] yaw_center_count = 1000000 (or anything above 605389)
> ; The 500000 default would put the negative end at -105389.
> ```
>
> The range is centre ± half the travel, so a centre below half-travel puts the
> negative end under zero. On tower 121 the inherited `500000` homed to
> `-104749..1104749`; at `1000000` it homes to `395194..1604807`. A warning names
> it after every home if it is still too small.
**`travel_deg` is a nameplate fact**, and the host divides the measured homing **`travel_deg` is a nameplate fact**, and the host divides the measured homing
travel by it to derive `[Motor] <axis>_counts_per_deg` into `config.ini`. A rough travel by it to derive `[Motor] <axis>_counts_per_deg` into `config.ini`. A rough
angle gives a proportionally rough degree scale - 1 % out here is 1 % out on every angle gives a proportionally rough degree scale - 1 % out here is 1 % out on every

19
hardware/lattepanda-iota/install.sh
View File

@ -299,6 +299,24 @@ do_vimba() {
# and a non-numeric value makes the program refuse to start with a message about # and a non-numeric value makes the program refuse to start with a message about
# a config key. Absent, it starts and reports the axis as undeclared - naming the # a config key. Absent, it starts and reports the axis as undeclared - naming the
# missing keys and which axis will not move, which is the useful failure. # missing keys and which axis will not move, which is the useful failure.
# The centre lives in config.ini, not here - it is calibration, and hardware.ini
# is merged OVER config.ini, so a shared key would silently discard whatever
# `gimbal heading setup` had saved. All this file can do is say what the value
# has to be, which it can work out from the travel.
#
# The range is centre +/- half the travel, so a centre below half-travel puts the
# negative end under zero. The long-standing 500000 default suits the Delta's
# ~89k half-travel and does not survive a gear ratio several times higher.
center_note() {
local steps="$1" ax="$2"
[[ -z $steps ]] && return 0
local half=$(( steps / 2 ))
local want=$(( (half / 1000000 + 1) * 1000000 ))
echo "; NOTE: half this travel is $half counts, so config.ini needs"
echo "; [Motor] ${ax}_center_count = $want (or anything above $half)"
echo "; The 500000 default would put the negative end at $(( 500000 - half ))."
}
kv_or_todo() { kv_or_todo() {
local key="$1" value="$2" why="$3" local key="$1" value="$2" why="$3"
if [[ -n $value ]]; then if [[ -n $value ]]; then
@ -400,6 +418,7 @@ EOF
"mechanical angle between the hard stops. Rough is fine to start; every bearing inherits its error proportionally until 'gimbal heading setup' supersedes it" "mechanical angle between the hard stops. Rough is fine to start; every bearing inherits its error proportionally until 'gimbal heading setup' supersedes it"
kv_or_todo "steps_per_rev" "$STEPS_PER_REV" \ kv_or_todo "steps_per_rev" "$STEPS_PER_REV" \
"measured full travel IN COUNTS - read it off a homing run. The only guard against a PHANTOM endstop" "measured full travel IN COUNTS - read it off a homing run. The only guard against a PHANTOM endstop"
center_note "$STEPS_PER_REV" "$ax"
kv_or_todo "sw_mode" "$SW_MODE" \ kv_or_todo "sw_mode" "$SW_MODE" \
"TMC SW_MODE. 0 = no physical switches (StallGuard homing); set the bits if this axis has REFL/REFR wired" "TMC SW_MODE. 0 = no physical switches (StallGuard homing); set the bits if this axis has REFL/REFR wired"
else else