Smoothie: proposed config style for Actuator

config

# New-style Actuator Smoothie config

robot.
robot.acceleration              2500      # apply this accel limit in cartesian space along the motion vector
robot.max_speed                 24000     # apply this speed limit in cartesian space along the motion vector

axis.x.soft_max                 120
axis.x.soft_min                 -120
axis.x.max_speed                30000     # if a move wants this axis to move faster than this, cap move speed
axis.x.acceleration             3000      # if a move wants this axis to accel faster than this, cap move acceleration

axis.y.soft_max                 120
axis.y.soft_min                 -120
axis.y.seek_rate                30000     # move this axis at this rate for G0 unsynchronised moves

axis.z.soft_min                 0
axis.z.soft_max                 400
axis.z.max_speed                18000
axis.z.endstop_min              z_min

actuator.alpha.enable           true
actuator.alpha.source           kossel:0
actuator.alpha.step_pin         1.24
actuator.alpha.dir_pin          1.25
actuator.alpha.en_pin           1.26
actuator.alpha.current          1.4
actuator.alpha.endstop_max      a_max
actuator.alpha.soft_max         430
actuator.alpha.soft_min         -50
actuator.alpha.max_speed        30000     # if robot asks us to move faster than this, cap move speed
actuator.alpha.acceleration     4000      # if robot asks us to accelerate harder than this, cap move acceleration

actuator.beta.enable            true
actuator.beta.source            kossel:1
# pins and other info omitted for brevity
actuator.beta.endstop_max       b_max
actuator.beta.soft_max          430
actuator.beta.soft_min          -50
actuator.beta.acceleration      4000

actuator.gamma.enable           true
actuator.gamma.source           kossel:2
actuator.gamma.endstop_max      c_max
actuator.gamma.soft_max         430
actuator.gamma.soft_min         -50
actuator.gamma.acceleration     4000

arm_solution.kossel.source      cartesian # this is assumed if not specified
arm_solution.kossel.arm_length  200
arm_solution.kossel.arm_radius  120

endstop.a_max.enable            true
endstop.a_max.pin               2.11^!
endstop.a_max.position          429.31
endstop.a_max.check             true      # always check this endstop

endstop.b_max.enable            true
endstop.b_max.pin               0.14^!
endstop.b_max.position          428.89
endstop.b_max.check             true

endstop.c_max.enable            true
endstop.c_max.pin               0.17^!
endstop.c_max.position          429.87
endstop.c_max.check             true

# Z min endstop is a hall effect sensor or probe
endstop.z_min.enable            true
endstop.z_min.pin               1.17v
endstop.z_min.position          1.3
endstop.z_min.check             false     # since check is false, used only for homing

z_probe.endstop                 z_min
z_probe.radius                  80
z_probe.target                  kossel