Hi Dan, it’s clear that changing the pulley diameter changes the speed of the machine. I’m wondering if the line algorithm accounts for that as well, or if it does the calculations from the motor axis.
Which calculations are you talking about?
The time estimate calculations are done in the software, which uses a few magic numbers to estimate the finish time. Look in Makelangelo software GCodeFile::estimateDrawTime().
The cartesian to polar coordinate calculations do not take pulley diameter into account. As the pen holder moves the point of contact between the belt and the pulley changes, which makes the math much more challenging. I found that a lazy solution was good enough. Look in Makelangelo firmware IK()
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