The web is full of wonderful sources of information, and you can easily find all the math required to drive a SCARA arm using inverse kinematics online. Turning it into efficient code… not so easy to find. This is the part of the design that actually scared me the most.
I decided to dig into it a bit tonight, and I have to say that after grabbing a pencil, drawing some pictures and writing out some of the equations it has become a lot clearer, and I even have hope of running the kinematics straight from the Arduino Mega. Who knew that the maths I had to struggle through at Varsity would actually come in handy after all!
When the firmware is running, I will publish my Marlin fork to github. I aim to integrate it in such a way that it could possibly be pushed into the main branch of marlin without breaking anything else, but that is definitely a long time goal. Let’s get Morgan running first!