I am about 90% of the way through a mod where I am adding two encoders to the maslow system. these two encoders will provide true X-Y feedback. Here is an image of a secondary beam mounted below the top beam.
The beam has a drywall square that is attached to a linear guide rail along the length. The sled is prevented from rotating by a similar linear slide along the blade of the drywall square.
You can see that there is a top plate attached at the top of the drywall square that is ready to have the two encoders bolted on. I should have this completed in the next few days. It is my plan to use a 6mm GT2 timing belt on both the X and Y axis to cause the encoders to turn as the Sled moves.
While I haven’t yet added the encoders to the system, I am fairly pleased with the smoothness of the mechanical motion of the drywall square, so I have high hopes that I will be able to feedback a true X-Y signal.
So here is where I run into difficulties - I don’t really understand where I can insert this information into the code. I was originally planning to port over to the Due to allow for more interrupts First Post, but if I could stick with the Mega2560 I would do it. However, that would mean that instead of adding more encoders, I would need to remove the wires from the chain motor encoders and attach these instead. .
I would appreciate any thoughts about which way to go with this setup or where I should look to start modding the code. My coding skills are fairly weak, but I am nothing if not Tenacious! Is there a detailed write-up anywhere that documents how the kinematics work?