Accomplishments<\/b><\/p>\n
This past week, I became more familiar with grbl and G-Codes. I progressively tuned the firmware settings using UGS (Universal G-Code Sender) such that acceleration and feed rate (which is essentially max velocity) were safely maximized without stalling the stepper motors. If the velocity is too fast, the motors won\u2019t be able to handle the strain and just stop rotating. I also created a gcode testfile that translates the cup from the origin to 10cm in the eight cardinal\/diagonal directions and back again. This will be used for the demo this next week. Further details on validation are in the team report<\/span><\/p>\n Progress<\/b><\/p>\n I hope to purchase a different step of limit switches that are more physically compatible with the XY robot. I misunderstood how limit switches function: they have to be physically placed onto the ends of the \u201cgantry\u201d rails such that the levers depress when the cup reaches the end. This sends a signal to the firmware saying \u201cstop moving! you\u2019ve hit the end!\u201d I mistakenly purchased a set of limit switches that are compatible with a 3D printer model, so I\u2019ll get a different bunch to use and wire up. After that, homing should be enabled and we\u2019ll be able to guarantee the location of the cup at all times, even after booting in.<\/span><\/p>\n","protected":false},"excerpt":{"rendered":" Accomplishments This past week, I became more familiar with grbl and G-Codes. I progressively tuned the firmware settings using UGS (Universal G-Code Sender) such that acceleration and feed rate (which is essentially max velocity) were safely maximized without stalling the stepper motors. If the velocity is too fast, the motors won\u2019t be able to handle … <\/p>\n