# This file contains common configurations and pin mappings
# for the Flsun Q5 using the MKS Robin Nano board.

# To use this config, the firmware should be compiled for the
# STM32F103. When running "make menuconfig", enable "extra low-level
# configuration setup", select the 28KiB bootloader, and serial (on
# USART3 PB11/PB10) communication.

# Note that the "make flash" command does not work with MKS Robin
# boards. After running "make", run the following command:
# ./scripts/update_mks_robin.py out/klipper.bin out/Robin_nano.bin
# Copy the file out/Robin_nano.bin to an SD card and then restart the
# printer with that SD card.

# See docs/Config_Reference.md for a description of parameters.

[mcu]
serial: /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0
restart_method: command

[printer]
kinematics: delta
max_velocity: 250
max_accel: 3000
max_z_velocity: 100
#delta_radius: 107.5
print_radius: 100
minimum_z_position: -5

[stepper_a]
step_pin: PE3
dir_pin: PE2
enable_pin: !PE4
microsteps: 16
rotation_distance: 40
endstop_pin: PA15
homing_speed: 20
homing_retract_dist: 5
homing_retract_speed: 10
second_homing_speed: 2
#position_endstop: 220
#arm_length: 215
#angle: 210

[stepper_b]
step_pin: PE0
dir_pin: PB9
enable_pin: !PE1
microsteps: 16
rotation_distance: 40
endstop_pin: PA12
#angle: 330

[stepper_c]
step_pin: PB5
dir_pin: PB4
enable_pin: !PB8
microsteps: 16
rotation_distance: 40
endstop_pin: PC4
#angle: 90

[probe]
pin: !PA11
x_offset: 0
y_offset: 0
z_offset: 20.26
speed: 5.0
samples: 5
samples_result: average
sample_retract_dist: 3
samples_tolerance: 0.02
samples_tolerance_retries: 5

[delta_calibrate]
radius: 95
horizontal_move_z: 25
Speed: 10

[extruder]
step_pin: PD6
dir_pin: !PD3
enable_pin: !PB3
microsteps: 16
rotation_distance: 24.61 # For Microswiss Bowden Dual Gear Extruder
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PC3
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC1
control: pid
pid_kp: 14.529
pid_ki: 0.557
pid_kd: 94.802
min_temp: 0
max_temp: 250
max_extrude_only_distance: 110.0

[heater_bed]
heater_pin: PA0
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PC0
control: pid
pid_Kp: 325.10
pid_Ki: 63.35
pid_Kd: 417.10
min_temp: 0
max_temp: 130

[fan]
pin: PB1

[output_pin light]
pin: PB0
value: 1
shutdown_value: 1
pwm: True
hardware_pwm: True
cycle_time: 0.005

# Useful for the initial cleaning arc made by Cura
[gcode_arcs]

[include macros.cfg]

[include mainsail.cfg]

#*# <---------------------- SAVE_CONFIG ---------------------->
#*# DO NOT EDIT THIS BLOCK OR BELOW. The contents are auto-generated.
#*#
#*# [printer]
#*# delta_radius = 105.913966
#*#
#*# [stepper_a]
#*# angle = 209.640230
#*# arm_length = 212.767079
#*# position_endstop = 218.732
#*#
#*# [stepper_b]
#*# angle = 329.306567
#*# arm_length = 214.904075
#*# position_endstop = 217.616
#*#
#*# [stepper_c]
#*# angle = 90.000000
#*# arm_length = 214.005791
#*# position_endstop = 216.850
#*#
#*# [delta_calibrate]
#*# height0 = 0.0
#*# height0_pos = 17510.000,17429.000,17376.000
#*# height1 = 0.0
#*# height1_pos = 21994.000,21926.000,15174.000
#*# height2 = 0.0
#*# height2_pos = 17115.000,24579.000,17009.000
#*# height3 = 0.0
#*# height3_pos = 15391.000,21083.000,21104.000
#*# height4 = 0.0
#*# height4_pos = 16974.000,16855.000,22121.000
#*# height5 = 0.0
#*# height5_pos = 20583.000,15420.000,20402.000
#*# height6 = 0.0
#*# height6_pos = 23447.000,16994.000,16909.000
#*# distance0 = 65.0
#*# distance0_pos1 = 17252.289,17580.627,17467.386
#*# distance0_pos2 = 15446.560,20356.501,20264.867
#*# distance1 = 65.2
#*# distance1_pos1 = 17352.823,17374.992,17571.291
#*# distance1_pos2 = 16890.714,16913.753,22430.807
#*# distance2 = 65.3
#*# distance2_pos1 = 17558.457,17274.394,17467.386
#*# distance2_pos2 = 20333.186,15468.659,20264.867
#*# distance3 = 65.19999999999999
#*# distance3_pos1 = 17663.620,17377.353,17261.730
#*# distance3_pos2 = 22523.023,16949.170,16816.977
#*# distance4 = 65.1
#*# distance4_pos1 = 17560.978,17583.021,17159.950
#*# distance4_pos2 = 20381.166,20402.069,15354.157
#*# distance5 = 65.3
#*# distance5_pos1 = 17355.309,17685.727,17261.730
#*# distance5_pos2 = 16928.007,22545.141,16816.977
#*# distance6 = 64.3
#*# distance6_pos1 = 15551.911,19757.770,20033.690
#*# distance6_pos2 = 17029.073,16756.223,22183.393
#*# distance7 = 64.9
#*# distance7_pos1 = 17008.383,16735.863,21705.892
#*# distance7_pos2 = 20384.561,15505.122,19936.320
#*# distance8 = 65.3
#*# distance8_pos1 = 20105.504,15576.175,19663.641
#*# distance8_pos2 = 22277.463,17087.858,16658.132
#*# distance9 = 65.0
#*# distance9_pos1 = 21799.891,17064.744,16636.619
#*# distance9_pos2 = 20051.987,20450.598,15389.571
#*# distance10 = 64.7
#*# distance10_pos1 = 19777.325,20167.562,15460.624
#*# distance10_pos2 = 16767.778,22295.977,16955.509
#*# distance11 = 65.3
#*# distance11_pos1 = 16745.044,21818.566,16933.579
#*# distance11_pos2 = 15480.867,20028.565,20314.788