Compiled Firmware with 5bar-Scara / Dual-Arm-Scara

[Phospherus]

@oliof https://youtu.be/9VRnl9GF-Sk Here you go.

[dc42]

Is anyone actually using 5-bar kinematics on Duet 2? We're looking to remove the more exotic kinematics from the Duet 2 build to free up flash memory space.

[Phospherus]

This post is deleted!

[o_lampe]

@dc42 I like to use Duet2 for my experimental/fun builds, but I can accept to stick with RRF3.4x features.
Although the soon_to_come robotics kinematics would be interesting for me, too.

Compiling a custom version on my own is no option, but if there was a customizer tool on top of eclipse, where we could choose the features we'd like and get a tailored RRF version, would be cool.

[JoergS5]

@o_lampe said in Compiled Firmware with 5bar-Scara / Dual-Arm-Scara:

customizer tool on top of eclipse

that's a good idea IMHO, analgoue to the RRF configurator which produced a config.g, this customizer tool would produce the binaries. With additional options like to configure how many drives are needed => optimizing performance vs memory need (additional options: remove or add mesh compensation for those who don't need or need it etc).

You don't need Eclipse, only to run the make exe and Arm toolchain. But a server on which it runs is needed and a responsible person who wants to invest time to do it.

[o_lampe]

@JoergS5 I would think, the configurator tool output could be a good starting point for a customizer tool, but it's not really spot on. Some manual editing is often necessary.
Plus, it would be a nightmare for the devs to test and debug every possible scenario. So, I can understand @dc42 approach of defining one "Duet2_lite" edition for further FW-updates.

[o_lampe]

@o_lampe
I could live without "colour mixing" code. It was an interesting feature a few years ago, but who's still using it?