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2Delta

2Delta

An open-source 2-axis delta robot.

The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.

Usage

Configure config.h

Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.

Incorrect configuration will lead to self-destruction!

Basic control

#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}

moveTo is blocking, so let me know if you need a non-blocking version.

Uploading the code

Turn off the power to the servos before uploading!

Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.

In future versions, I'll add an upload button, which will detach the servos before uploading.

Assembly

Hardware

  • 1x Arduino
  • 1x 5V 3A power supply
  • 2x Standard servos with metal servo horns (Amazon)
  • 9x 624Z bearings
  • 15x M4 locknuts
  • 4x 16mm M4 screws
  • 8x 20mm M4 screws
  • 1x 25mm M4 screw
  • 1x 30mm M4 screw
  • 1x 35mm M4 screw
  • 4x 10mm M3 screws

Future improvements

Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.

About

An open source 2 axis delta robot.

Resources

Readme
MIT license
Activity

Stars

3 stars

Watchers

1 watching

Forks

0 forks
Report repository

Releases

Packages

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

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Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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README.md
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platformio.ini
platformio.ini
Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

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platformio.ini
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Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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LICENSE
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README.md
README.md
platformio.ini
platformio.ini
Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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2delta.step
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LICENSE
LICENSE
README.md
README.md
platformio.ini
platformio.ini
Repository files navigation
2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
Resources
Readme
MIT license
Activity
Stars
3 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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2Delta
2Delta
An open-source 2-axis delta robot.
The great thing about delta, is it only uses 2 small servo motors, but it has a quite a large workspace.
Usage
Configure config.h
Carefully adjust the values based on your robot's physical dimensions and the specifications in your servo motor datasheets.
Incorrect configuration will lead to self-destruction!
Basic control
#include<delta.h>
#include<Servo.h>
Delta delta;
voidsetup() {
Serial.begin(9600);
// CAREFUL: This will move the servos to the home position// with no control over speed!!
delta.begin();
}
voidloop() {
delta.setSpeed(50); // Speed in mm/s// Move to (x, y) in mm.//// This will return `false` if// - the position is out of bounds// - getting there would cause a collision.
delta.moveTo(100, 200); delta.setSpeed(200);
delta.moveTo(-50, 300);
}
moveTo is blocking, so let me know if you need a non-blocking version.
Uploading the code
Turn off the power to the servos before uploading!
Uploading can interfere with the PWM signals and cause the servos to go crazy until the robot is destroyed.
In future versions, I'll add an upload button, which will detach the servos before uploading.
Assembly
Hardware
  •  1x Arduino
  •  1x 5V 3A power supply
  •  2x Standard servos with metal servo horns (Amazon)
  •  9x 624Z bearings
  •  15x M4 locknuts
  •  4x 16mm M4 screws
  •  8x 20mm M4 screws
  •  1x 25mm M4 screw
  •  1x 30mm M4 screw
  •  1x 35mm M4 screw
  •  4x 10mm M3 screws
Future improvements
Currently, the inverse kinematics uses acos, which can be inaccurate for acos(1-) and acos(-1+). It would be better to use atan2 instead.
About
An open source 2 axis delta robot.
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Readme
MIT license
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