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Marlin固件配置
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Marlin固件的配置说明
Marlin固件是reprap 3d打印机中比较常用的固件。但是并不是所有的打印机参数都是一样的，所以在使用之前需要做好配置才能让打印机工作正确。更详尽的介绍见：你需要先到github下载marlin源代码，下载地址是：下载后用Arduino IDE打开拓展名为ino或pde的文件，文件名应当是Marlin.pde。打开后，IDE会同时打开同文件夹下的所有文件，包括最重要的文件之一：Configuration.h文件。通过IDE上的TAB切换的Configuration.h文件。下面我会对最常用的参数进行解释和说明，请根据自己的情况进行修改。以下为代码部分
#ifndef CONFIGURATION_H#define CONFIGURATION_H// This configurtion file contains the basic settings.// Advanced settings can be found in Configuration_adv.h// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration__//最常见的配置参数包括：1、板子类型；2、温度传感器类型；3、轴设置；4、限位开关配置__//User specified version info of this build to display in [Pronterface, etc] terminal window during startup.//Implementation of an idea by Prof Braino to inform user that any changes made//to this build by the user have been successfully uploaded into firmware.#define STRING_VERSION_CONFIG_H __DATE__ & & __TIME__ // build date and time#define STRING_CONFIG_H_AUTHOR &(MakerLab, default config)& //Who made the changes.// SERIAL_PORT selects which serial port should be used for communication with the host.// This allows the connection of wireless adapters (for instance) to non-default port pins.// Serial port 0 is still used by the Arduino bootloader regardless of this setting.#define SERIAL_PORT 0// This determines the communication speed of the printer#define BAUDRATE 250000//#define BAUDRATE 115200__//波特率的配置，默认配置为250000，这个需要与你的上位机想匹配，否则无法通讯____//下面开始配置板子的类型，如果你使用的是ramps1.4版本，这个参数需要配置为33（一个挤出头）或34（两个挤出头）__//// The following define selects which electronics board you have. Please choose the one that matches your setup// 10 = Gen7 custom (Alfons3 Version) &/Alfons3/Generation_7_Electronics&// 11 = Gen7 v1.1, v1.2 = 11// 12 = Gen7 v1.3// 13 = Gen7 v1.4// 3
= MEGA/RAMPS up to 1.2 = 3// 33 = RAMPS 1.3 / 1.4 (Power outputs: Extruder, Bed, Fan)// 34 = RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)// 4
= Duemilanove w/ ATMega328P pin assignment// 5
= Gen6// 51 = Gen6 deluxe// 6
= Sanguinololu & 1.2// 62 = Sanguinololu 1.2 and above// 63 = Melzi// 64 = STB V1.1// 7
= Ultimaker// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)// 8
= Teensylu// 80 = Rumba// 81 = Printrboard (AT90USB1286)// 82 = Brainwave (AT90USB646)// 9
= Gen3+// 70 = Megatronics// 701= Megatronics v2.0// 702= Minitronics v1.0// 90 = Alpha OMCA board// 91 = Final OMCA board// 301 = Rambo#ifndef MOTHERBOARD__#define MOTHERBOARD 33 //如果你的板子为其它类型，请做相应修改__#endif__//配置挤出头的个数__// This defines the number of extruders#define EXTRUDERS 1//// The following define selects which power supply you have. Please choose the one that matches your setup// 1 = ATX// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)#define POWER_SUPPLY 1__//温度传感器设置，最常用的是100K热敏电阻，选择1即可__//===========================================================================//=============================Thermal Settings
============================//===========================================================================////--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table////// Temperature sensor settings:// -2 is thermocouple with MAX6675 (only for sensor 0)// -1 is thermocouple with AD595// 0 is not used// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)// 3 is mendel-parts thermistor (4.7k pullup)// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan) (4.7k pullup)// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)// 8 is 100k 0603 SMD Vishay NTCSFXT (4.7k pullup)// 9 is 100k GE Sensing ALK-97-G1 (4.7k pullup)// 10 is 100k RS thermistor 198-961 (4.7k pullup)////
1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k//
(but gives greater accuracy and more stable PID)// 51 is 100k thermistor - EPCOS (1k pullup)// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan) (1k pullup)__//更改相应的配置，如果没有，填0__#define TEMP_SENSOR_0 1#define TEMP_SENSOR_1 0#define TEMP_SENSOR_2 0#define TEMP_SENSOR_BED 1// Actual temperature must be close to target for this long before M109 returns success#define TEMP_RESIDENCY_TIME 10
// (seconds)#define TEMP_HYSTERESIS 3
// (degC) range of +/- temperatures considered &close& to the target one#define TEMP_WINDOW
// (degC) Window around target to start the recidency timer x degC early.__//下面的配置是为了保护打印机而做的参数，一般情况不需要修改。__// The minimal temperature defines the temperature below which the heater will not be enabled It is used// to check that the wiring to the thermistor is not broken.// Otherwise this would lead to the heater being powered on all the time.#define HEATER_0_MINTEMP 5#define HEATER_1_MINTEMP 5#define HEATER_2_MINTEMP 5#define BED_MINTEMP 5__//以上几个配置是在温度低于5度时，打印机将不能启动，表现为报错，并且加热头和热床的加热无法打开____//下面的最高温度的配置，防止将打印机烧坏__// When temperature exceeds max temp, your heater will be switched off.// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!// You should use MINTEMP for thermistor short/failure protection.#define HEATER_0_MAXTEMP 275#define HEATER_1_MAXTEMP 275#define HEATER_2_MAXTEMP 275#define BED_MAXTEMP 150__//此配置是为了防止加热床电阻太小，长时间加热容易烧mos管，增加这个数字，防止mos管太热，但加热时间会增长__// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the// average current. The value should be an integer and the heat bed will be turned on for 1 interval of// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4__//PID温控配置，暂时没做研究，谁了解请告诉我。__// PID settings:// Comment the following line to disable PID and enable bang-bang.#define PIDTEMP#define BANG_MAX 256 // limits current to nozzle while in bang- 256=full current#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX 255
//limit for the integral term
#define K1 0.95 //smoothing factor withing the PID
#define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it// Ultimaker
DEFAULT_Kp 22.2
DEFAULT_Ki 1.08
DEFAULT_Kd 114// Makergear//
DEFAULT_Kp 7.0//
DEFAULT_Ki 0.1//
DEFAULT_Kd 12// Mendel Parts V9 on 12V//
DEFAULT_Kp 63.0//
DEFAULT_Ki 2.25//
DEFAULT_Kd 440#endif // PIDTEMP// Bed Temperature Control// Select PID or bang-bang with PIDTEMPBED.
If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis//// uncomment this to enable PID on the bed.
It uses the same frequency PWM as the extruder.// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly// shouldn't use bed PID until someone else verifies your hardware works.// If this is enabled, find your own PID constants below.//#define PIDTEMPBED////#define BED_LIMIT_SWITCHING// This sets the max power delived to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)// setting this to anything other than 256 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,// so you shouldn't use it unless you are OK with PWM on your bed.
(see the comment on enabling PIDTEMPBED)#define MAX_BED_POWER 256 // limi 256=full current#ifdef PIDTEMPBED//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
DEFAULT_bedKp 10.00
DEFAULT_bedKi .023
DEFAULT_bedKd 305.4//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)//from pidautotune//
DEFAULT_bedKp 97.1//
DEFAULT_bedKi 1.41//
DEFAULT_bedKd 1675.16// FIND YOUR OWN: &M303 E-1 C8 S90& to run autotune on the bed at 90 degreesC for 8 cycles.#endif // PIDTEMPBED__//为了防止危险的挤出动作，做的保护配置，防止挤出器在温度不够时挤出__//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit//can be software-disabled for whatever purposes by#define PREVENT_DANGEROUS_EXTRUDE//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.#define PREVENT_LENGTHY_EXTRUDE#define EXTRUDE_MINTEMP 170#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.//===========================================================================//=============================Mechanical Settings===========================//===========================================================================// Uncomment the following line to enable CoreXY kinematics// #define COREXY__//限位开关上拉配置，如果你使用的是机械式的限位开关，请保留此部分__// corse Endstop Settings#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors#ifndef ENDSTOPPULLUPS
// fine Enstop settings: Individual Pullups. will be ignord if ENDSTOPPULLUPS is defined
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
//#define ENDSTOPPULLUP_ZMIN#endif#ifdef ENDSTOPPULLUPS
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN#endif__//机械限位开关不需要做修改__// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.//#define DISABLE_MAX_ENDSTOPS__//如果你使用了其它步进电机驱动器，需要根据驱动器的属性来修改此参数__// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1#define X_ENABLE_ON 0#define Y_ENABLE_ON 0#define Z_ENABLE_ON 0#define E_ENABLE_ON 0 // For all extruders__//禁用某个轴__// Disables axis when it's not being used.#define DISABLE_X false#define DISABLE_Y false#define DISABLE_Z false#define DISABLE_E false // For all extruders__//根据你的机械情况，修改这几个参数，修改后电机方向会反转__#define INVERT_X_DIR false
// for Mendel set to false, for Orca set to true#define INVERT_Y_DIR true
// for Mendel set to true, for Orca set to false#define INVERT_Z_DIR false
// for Mendel set to false, for Orca set to true#define INVERT_E0_DIR false
// for direct drive extruder v9 set to true, for geared extruder set to false#define INVERT_E1_DIR false
// for direct drive extruder v9 set to true, for geared extruder set to false#define INVERT_E2_DIR false
// for direct drive extruder v9 set to true, for geared extruder set to false__//回原点方向配置，如果你的最大值为原点需要配置为1，如果最小值为原点需要配置为-1__// ENDSTOP SETTINGS:// Sets direction of
1=MAX, -1=MIN#define X_HOME_DIR -1#define Y_HOME_DIR -1#define Z_HOME_DIR -1__//配置你的打印机可打印尺寸，如果你的打印机有特殊配置，比如delta打印机里，会出现负数，请注意__#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.#define max_software_endstops true
//If true, axis won't move to coordinates greater than the defined lengths below.// Travel limits after homing#define X_MAX_POS 205#define X_MIN_POS 0#define Y_MAX_POS 205#define Y_MIN_POS 0#define Z_MAX_POS 200#define Z_MIN_POS 0#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)// The position of the homing switches//#define MANUAL_HOME_POSITIONS
// If defined, MANUAL_*_HOME_POS below will be used//#define BED_CENTER_AT_0_0
// If defined, the center of the bed is at (X=0, Y=0)__//可以配置打印平台中间为(X=0,Y=0)__//Manual homing switch locations:#define MANUAL_X_HOME_POS 0#define MANUAL_Y_HOME_POS 0#define MANUAL_Z_HOME_POS 0//// MOVEMENT SETTINGS#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0}
// set the homing speeds (mm/min)__//上面配置为回原点的速度，可根据实际情况做相应调整__// default settings__//下面的参数非常重要，关系到打印机是否能够打印出正确的尺寸，需要根据你使用的同步带，同步轮，丝杆等参数进行计算，或根据下面数据做等比例调整。__#define DEFAULT_AXIS_STEPS_PER_UNIT
{85.3333, 85.3333,2560,158.8308}
// default steps per unit for ultimaker#define DEFAULT_MAX_FEEDRATE
{500, 500, 5, 25}
// (mm/sec)#define DEFAULT_MAX_ACCELERATION
{9000,9000,100,10000}
// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.#define DEFAULT_ACCELERATION
// X, Y, Z and E max acceleration in mm/s^2 for printing moves#define DEFAULT_RETRACT_ACCELERATION
// X, Y, Z and E max acceleration in mm/s^2 for r retracts// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).// For the other hotends it is their distance from the extruder 0 hotend.// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis// #define EXTRUDER_OFFSET_Y {0.0, 5.00}
// (in mm) for each extruder, offset of the hotend on the Y axis// The speed change that does not require acceleration (i.e. the software might assume it can be done instanteneously)#define DEFAULT_XYJERK
// (mm/sec)#define DEFAULT_ZJERK
// (mm/sec)#define DEFAULT_EJERK
// (mm/sec)//===========================================================================//=============================Additional Features===========================//===========================================================================// EEPROM// the microcontroller can store settings in the EEPROM, e.g. max velocity...// M500 - stores paramters in EEPROM// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).// M502 - reverts to the default &factory settings&.
You still need to store them in EEPROM afterwards if you want to.//define this to enable eeprom support//#define EEPROM_SETTINGS//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:// please keep turned on if you can.//#define EEPROM_CHITCHAT__//预加热配置，无需做修改__// Preheat Constants#define PLA_PREHEAT_HOTEND_TEMP 180 #define PLA_PREHEAT_HPB_TEMP 70#define PLA_PREHEAT_FAN_SPEED 255
// Insert Value between 0 and 255#define ABS_PREHEAT_HOTEND_TEMP 240#define ABS_PREHEAT_HPB_TEMP 100#define ABS_PREHEAT_FAN_SPEED 255
// Insert Value between 0 and 255__//LCD和SD卡的配置，此文件中我已经根据我的LCD和SD卡板子做了相应调整，可以直接使用，如果你使用了其它LCD板子，需要做其它配置__//LCD and SD support#define ULTRA_LCD
//general lcd support, also 16x2//#define DOGLCD
// Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)//#define SDSUPPORT // Enable SD Card Support in Hardware Console//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)//#define ULTIMAKERCONTROLLER //as available from the ultimaker online store.//#define ULTIPANEL
//the ultipanel as on thingiverse// The RepRapDiscount Smart Controller (white PCB)#define REPRAP_DISCOUNT_SMART_CONTROLLER// The GADGETS3D G3D LCD/SD Controller (blue PCB)// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel//#define G3D_PANEL// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller//// ==& REMEMBER TO INSTALL U8glib to your ARDUINO library folder: /p/u8glib/wiki/u8glib//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER// The RepRapWorld REPRAPWORLD_KEYPAD v1.1// /?products_details&products_id=202&cPath=//#define REPRAPWORLD_KEYPAD//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click//automatic expansion#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) #define DOGLCD #define U8GLIB_ST7920 #define REPRAP_DISCOUNT_SMART_CONTROLLER#endif#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL) #define ULTIPANEL #define NEWPANEL#endif#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
#define ULTIPANEL#endif//I2C PANELS//#define LCD_I2C_SAINSMART_YWROBOT#ifdef LCD_I2C_SAINSMART_YWROBOT
// This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
// Make sure it is placed in the Arduino libraries directory.
#define LCD_I2C_TYPE_PCF8575
#define LCD_I2C_ADDRESS 0x27
// I2C Address of the port expander
#define NEWPANEL
#define ULTIPANEL #endif// PANELOLU2 LCD with status LEDs, separate encoder and click inputs//#define LCD_I2C_PANELOLU2#ifdef LCD_I2C_PANELOLU2
// This uses the LiquidTWI2 library v1.2.3 or later ( /lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
// Note: The PANELOLU2 encoder click input can either be directly connected to a pin
(if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
#define NEWPANEL
#define ULTIPANEL #endif// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs//#define LCD_I2C_VIKI#ifdef LCD_I2C_VIKI
// This uses the LiquidTWI2 library v1.2.3 or later ( /lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// Note: The pause/stop/resume LCD button pin should be connected to the Arduino
BTN_ENC pin (or set BTN_ENC to -1 if not used)
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
#define NEWPANEL
#define ULTIPANEL #endif#ifdef ULTIPANEL//
#define NEWPANEL
//enable this if you have a click-encoder panel
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_HEIGHT 5
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif#else //no panel but just lcd
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_HEIGHT 5
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif#endif// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino//#define FAST_PWM_FAN// M240
Triggers a camera by emulating a Canon RC-1 Remote// Data from: http://www.doc-diy.net/photo/rc-1_hacked/// #define PHOTOGRAPH_PIN
23// SF send wrong arc g-codes when using Arc Point as fillet procedure//#define SF_ARC_FIX// Support for the BariCUDA Paste Extruder.//#define BARICUDA/*********************************************************************\** R/C SERVO support** Sponsored by TrinityLabs, Reworked by codexmas***********************************************************************/// Number of servos//// If you select a configuration below, this will receive a default value and does not need to be set manually// set it manually if you have more servos than extruders and wish to manually control some// leaving it undefined or defining as 0 will disable the servo subsystem// If unsure, leave commented / disabled//// #define NUM_SERVOS 3#include &Configuration_adv.h&#include &thermistortables.h&#endif //__CONFIGURATION_H
能有详细电机参数设置和计算方法就更方便理解！
@Ｄ打印机 嗯，会尽快补上相关说明的。
请教下,想要调节打印的时候，耗材回缩的的距离，应该在哪里改动啊？
#define DEFAULT_MAX_FEEDRATE
{300, 300, 5, 25}
// (mm/sec)是怎么得出的谢谢
@ 这都是默认参数。本来就有。
@ 我想用corexy的结构，可以问下哪里改XY轴电机运动公式的吗
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