How would I be able to code coordinates into a single set of instructions to direct the motion of the Delta X Robot?

Question

Matthew Jaiman 2022-2-2

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1641040-how-would-i-be-able-to-code-coordinates-into-a-single-set-of-instructions-to-direct-the-motion-of-th

回答： Walter Roberson 2022-2-2

s = serialport('COM5',115200,'Timeout',1,'DataBits',8,'StopBits',1,'Parity','none','FlowControl','none'); 
writeline(s,"IsDelta") 
writeline(s,"IsDelta") 
readline(s) 
writeline(s,"G28") 
writeline(s,'M204 2000')
readline(s) 
s1={'G01'} 
s11={' '} 
s2={'Z','X','Y'} 
s3={'-390','-78,-55,-32.5,-11.5,12,34.5,57,80,103.5','58'} 
A = strcat(s1 ,s11,s2,s3) 
writeline(s,'G01 A')

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Answer 1

Walter Roberson 2022-2-2

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链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1641040-how-would-i-be-able-to-code-coordinates-into-a-single-set-of-instructions-to-direct-the-motion-of-th#answer_886770

在 MATLAB Online 中打开

s = serialport('COM5',115200,'Timeout',1,'DataBits',8,'StopBits',1,'Parity','none','FlowControl','none'); 
cmd = "IsDelta" + newline + "IsDelta" + newline + "G28" + newline + "M204 2000" + newline;
s1={'G01'} 
s11={' '} 
s2={'Z','X','Y'} 
s3={'-390','-78,-55,-32.5,-11.5,12,34.5,57,80,103.5','58'} 
A = strcat(s1 ,s11,s2,s3) 
cmd = cmd + A + newline;
write(s, cmd, 'char');
readline(s) 
readline(s) 

This is not certain to work. The robot might need time to react between the time you send IsDelta and the time you send G28, or after you send M204 and before the next part.

But possibly what you are looking for is just taking what you have now and replacing the

writeline(s,'G01 A')

with

writeline(s, A);