Commit | Line | Data |
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df27a6a3 | 1 | /* |
aab6cbba | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
4cff3ded AW |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
5673fe39 | 10 | |
29e809e0 | 11 | #include "Robot.h" |
4cff3ded | 12 | #include "Planner.h" |
3fceb8eb | 13 | #include "Conveyor.h" |
5673fe39 MM |
14 | #include "Pin.h" |
15 | #include "StepperMotor.h" | |
16 | #include "Gcode.h" | |
5647f709 | 17 | #include "PublicDataRequest.h" |
928467c0 | 18 | #include "PublicData.h" |
4cff3ded AW |
19 | #include "arm_solutions/BaseSolution.h" |
20 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 21 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 22 | #include "arm_solutions/LinearDeltaSolution.h" |
11a39396 | 23 | #include "arm_solutions/RotaryDeltaSolution.h" |
bdaaa75d | 24 | #include "arm_solutions/HBotSolution.h" |
fff1e42d | 25 | #include "arm_solutions/CoreXZSolution.h" |
1217e470 | 26 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 27 | #include "StepTicker.h" |
7af0714f JM |
28 | #include "checksumm.h" |
29 | #include "utils.h" | |
8d54c34c | 30 | #include "ConfigValue.h" |
5966b7d0 | 31 | #include "libs/StreamOutput.h" |
dd0a7cfa | 32 | #include "StreamOutputPool.h" |
928467c0 | 33 | #include "ExtruderPublicAccess.h" |
0ec2f63a | 34 | #include "GcodeDispatch.h" |
13ad7234 | 35 | #include "ActuatorCoordinates.h" |
7e9e31b0 | 36 | #include "EndstopsPublicAccess.h" |
0ec2f63a | 37 | |
29e809e0 JM |
38 | #include "mbed.h" // for us_ticker_read() |
39 | #include "mri.h" | |
40 | ||
41 | #include <fastmath.h> | |
42 | #include <string> | |
43 | #include <algorithm> | |
38bf9a1c | 44 | |
78d0e16a MM |
45 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
46 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
47 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
48 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
49 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
83c6e067 | 50 | #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error") |
78d0e16a MM |
51 | #define arc_correction_checksum CHECKSUM("arc_correction") |
52 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
53 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
54 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
a3e1326a | 55 | #define segment_z_moves_checksum CHECKSUM("segment_z_moves") |
3aad33c7 | 56 | #define save_g92_checksum CHECKSUM("save_g92") |
39280f30 | 57 | #define set_g92_checksum CHECKSUM("set_g92") |
43424972 JM |
58 | |
59 | // arm solutions | |
78d0e16a MM |
60 | #define arm_solution_checksum CHECKSUM("arm_solution") |
61 | #define cartesian_checksum CHECKSUM("cartesian") | |
62 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
63 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 64 | #define linear_delta_checksum CHECKSUM("linear_delta") |
11a39396 | 65 | #define rotary_delta_checksum CHECKSUM("rotary_delta") |
78d0e16a MM |
66 | #define delta_checksum CHECKSUM("delta") |
67 | #define hbot_checksum CHECKSUM("hbot") | |
68 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 69 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 70 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 71 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 72 | |
78d0e16a MM |
73 | // new-style actuator stuff |
74 | #define actuator_checksum CHEKCSUM("actuator") | |
75 | ||
76 | #define step_pin_checksum CHECKSUM("step_pin") | |
77 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
78 | #define en_pin_checksum CHECKSUM("en_pin") | |
79 | ||
80 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 81 | #define max_rate_checksum CHECKSUM("max_rate") |
29e809e0 JM |
82 | #define acceleration_checksum CHECKSUM("acceleration") |
83 | #define z_acceleration_checksum CHECKSUM("z_acceleration") | |
78d0e16a MM |
84 | |
85 | #define alpha_checksum CHECKSUM("alpha") | |
86 | #define beta_checksum CHECKSUM("beta") | |
87 | #define gamma_checksum CHECKSUM("gamma") | |
88 | ||
507b2403 JM |
89 | #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power") |
90 | ||
7e9e31b0 JM |
91 | #define enable_checksum CHECKSUM("enable") |
92 | #define halt_checksum CHECKSUM("halt") | |
93 | #define soft_endstop_checksum CHECKSUM("soft_endstop") | |
94 | #define xmin_checksum CHECKSUM("x_min") | |
95 | #define ymin_checksum CHECKSUM("y_min") | |
96 | #define zmin_checksum CHECKSUM("z_min") | |
97 | #define xmax_checksum CHECKSUM("x_max") | |
98 | #define ymax_checksum CHECKSUM("y_max") | |
99 | #define zmax_checksum CHECKSUM("z_max") | |
100 | ||
64877d0a | 101 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-9F // Float (radians) |
29e809e0 | 102 | #define PI 3.14159265358979323846F // force to be float, do not use M_PI |
5fa0c173 | 103 | |
edac9072 AW |
104 | // The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue |
105 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
106 | ||
4710532a JM |
107 | Robot::Robot() |
108 | { | |
a1b7e9f0 | 109 | this->inch_mode = false; |
0e8b102e | 110 | this->absolute_mode = true; |
29e809e0 | 111 | this->e_absolute_mode = true; |
4cff3ded | 112 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
45ca77ec JM |
113 | memset(this->machine_position, 0, sizeof machine_position); |
114 | memset(this->compensated_machine_position, 0, sizeof compensated_machine_position); | |
0b804a41 | 115 | this->arm_solution = NULL; |
da947c62 | 116 | seconds_per_minute = 60.0F; |
fae93525 | 117 | this->clearToolOffset(); |
03b01bac | 118 | this->compensationTransform = nullptr; |
121094a5 | 119 | this->get_e_scale_fnc= nullptr; |
03b01bac JM |
120 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); |
121 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 122 | this->next_command_is_MCS = false; |
778093ce | 123 | this->disable_segmentation= false; |
84cf4071 | 124 | this->disable_arm_solution= false; |
29e809e0 | 125 | this->n_motors= 0; |
4cff3ded AW |
126 | } |
127 | ||
128 | //Called when the module has just been loaded | |
4710532a JM |
129 | void Robot::on_module_loaded() |
130 | { | |
4cff3ded AW |
131 | this->register_for_event(ON_GCODE_RECEIVED); |
132 | ||
133 | // Configuration | |
807b9b57 | 134 | this->load_config(); |
da24d6ae AW |
135 | } |
136 | ||
807b9b57 JM |
137 | #define ACTUATOR_CHECKSUMS(X) { \ |
138 | CHECKSUM(X "_step_pin"), \ | |
139 | CHECKSUM(X "_dir_pin"), \ | |
140 | CHECKSUM(X "_en_pin"), \ | |
141 | CHECKSUM(X "_steps_per_mm"), \ | |
29e809e0 JM |
142 | CHECKSUM(X "_max_rate"), \ |
143 | CHECKSUM(X "_acceleration") \ | |
807b9b57 | 144 | } |
5984acdf | 145 | |
807b9b57 JM |
146 | void Robot::load_config() |
147 | { | |
edac9072 AW |
148 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
149 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
150 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 151 | // Here we read the config to find out which arm solution to use |
0b804a41 | 152 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 153 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 154 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 155 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 156 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 157 | |
fff1e42d JJ |
158 | } else if(solution_checksum == corexz_checksum) { |
159 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
160 | ||
2a06c415 JM |
161 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
162 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 163 | |
4710532a | 164 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 165 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 166 | |
11a39396 JM |
167 | } else if(solution_checksum == rotary_delta_checksum) { |
168 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 169 | |
1217e470 QH |
170 | } else if(solution_checksum == morgan_checksum) { |
171 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
172 | ||
4710532a | 173 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 174 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 175 | |
4710532a | 176 | } else { |
314ab8f7 | 177 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 178 | } |
73a4e3c0 | 179 | |
6b661ab3 DP |
180 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
181 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
182 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
183 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
b259f517 | 184 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.0f)->as_number(); |
4d0f60a9 | 185 | this->mm_max_arc_error = THEKERNEL->config->value(mm_max_arc_error_checksum )->by_default( 0.01f)->as_number(); |
6b661ab3 | 186 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
78d0e16a | 187 | |
29e809e0 | 188 | // in mm/sec but specified in config as mm/min |
6b661ab3 DP |
189 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
190 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
191 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 192 | |
a3e1326a | 193 | this->segment_z_moves = THEKERNEL->config->value(segment_z_moves_checksum )->by_default(true)->as_bool(); |
3aad33c7 | 194 | this->save_g92 = THEKERNEL->config->value(save_g92_checksum )->by_default(false)->as_bool(); |
39280f30 JM |
195 | string g92 = THEKERNEL->config->value(set_g92_checksum )->by_default("")->as_string(); |
196 | if(!g92.empty()) { | |
197 | // optional setting for a fixed G92 offset | |
198 | std::vector<float> t= parse_number_list(g92.c_str()); | |
199 | if(t.size() == 3) { | |
200 | g92_offset = wcs_t(t[0], t[1], t[2]); | |
201 | } | |
202 | } | |
a3e1326a | 203 | |
507b2403 JM |
204 | // default s value for laser |
205 | this->s_value = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(0.8F)->as_number(); | |
206 | ||
319e12fc | 207 | // Make our Primary XYZ StepperMotors, and potentially A B C |
7e9e31b0 | 208 | uint16_t const motor_checksums[][6] = { |
29e809e0 JM |
209 | ACTUATOR_CHECKSUMS("alpha"), // X |
210 | ACTUATOR_CHECKSUMS("beta"), // Y | |
211 | ACTUATOR_CHECKSUMS("gamma"), // Z | |
37b7b898 JM |
212 | #if MAX_ROBOT_ACTUATORS > 3 |
213 | ACTUATOR_CHECKSUMS("delta"), // A | |
214 | #if MAX_ROBOT_ACTUATORS > 4 | |
215 | ACTUATOR_CHECKSUMS("epsilon"), // B | |
216 | #if MAX_ROBOT_ACTUATORS > 5 | |
217 | ACTUATOR_CHECKSUMS("zeta") // C | |
218 | #endif | |
219 | #endif | |
220 | #endif | |
807b9b57 | 221 | }; |
807b9b57 | 222 | |
29e809e0 JM |
223 | // default acceleration setting, can be overriden with newer per axis settings |
224 | this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2 | |
225 | ||
226 | // make each motor | |
37b7b898 | 227 | for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) { |
807b9b57 JM |
228 | Pin pins[3]; //step, dir, enable |
229 | for (size_t i = 0; i < 3; i++) { | |
7e9e31b0 | 230 | pins[i].from_string(THEKERNEL->config->value(motor_checksums[a][i])->by_default("nc")->as_string())->as_output(); |
96ef0809 JM |
231 | } |
232 | ||
4d5d8050 JM |
233 | if(!pins[0].connected() || !pins[1].connected()) { // step and dir must be defined, but enable is optional |
234 | if(a <= Z_AXIS) { | |
235 | THEKERNEL->streams->printf("FATAL: motor %c is not defined in config\n", 'X'+a); | |
236 | n_motors= a; // we only have this number of motors | |
237 | return; | |
238 | } | |
96ef0809 | 239 | break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order) |
807b9b57 | 240 | } |
37b7b898 | 241 | |
29e809e0 JM |
242 | StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]); |
243 | // register this motor (NB This must be 0,1,2) of the actuators array | |
244 | uint8_t n= register_motor(sm); | |
245 | if(n != a) { | |
246 | // this is a fatal error | |
247 | THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a); | |
4d5d8050 | 248 | return; |
29e809e0 | 249 | } |
78d0e16a | 250 | |
7e9e31b0 JM |
251 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(motor_checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
252 | actuators[a]->set_max_rate(THEKERNEL->config->value(motor_checksums[a][4])->by_default(30000.0F)->as_number()/60.0F); // it is in mm/min and converted to mm/sec | |
253 | actuators[a]->set_acceleration(THEKERNEL->config->value(motor_checksums[a][5])->by_default(NAN)->as_number()); // mm/secs² | |
807b9b57 | 254 | } |
a84f0186 | 255 | |
dd0a7cfa | 256 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 257 | |
29e809e0 JM |
258 | // if we have not specified a z acceleration see if the legacy config was set |
259 | if(isnan(actuators[Z_AXIS]->get_acceleration())) { | |
260 | float acc= THEKERNEL->config->value(z_acceleration_checksum)->by_default(NAN)->as_number(); // disabled by default | |
261 | if(!isnan(acc)) { | |
262 | actuators[Z_AXIS]->set_acceleration(acc); | |
263 | } | |
264 | } | |
265 | ||
975469ad MM |
266 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
267 | // so the first move can be correct if homing is not performed | |
807b9b57 | 268 | ActuatorCoordinates actuator_pos; |
45ca77ec | 269 | arm_solution->cartesian_to_actuator(machine_position, actuator_pos); |
29e809e0 | 270 | for (size_t i = 0; i < n_motors; i++) |
975469ad | 271 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
272 | |
273 | //this->clearToolOffset(); | |
7e9e31b0 JM |
274 | |
275 | soft_endstop_enabled= THEKERNEL->config->value(soft_endstop_checksum, enable_checksum)->by_default(false)->as_bool(); | |
276 | soft_endstop_halt= THEKERNEL->config->value(soft_endstop_checksum, halt_checksum)->by_default(true)->as_bool(); | |
277 | ||
278 | soft_endstop_min[X_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, xmin_checksum)->by_default(NAN)->as_number(); | |
279 | soft_endstop_min[Y_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, ymin_checksum)->by_default(NAN)->as_number(); | |
280 | soft_endstop_min[Z_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, zmin_checksum)->by_default(NAN)->as_number(); | |
281 | soft_endstop_max[X_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, xmax_checksum)->by_default(NAN)->as_number(); | |
282 | soft_endstop_max[Y_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, ymax_checksum)->by_default(NAN)->as_number(); | |
283 | soft_endstop_max[Z_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, zmax_checksum)->by_default(NAN)->as_number(); | |
4cff3ded AW |
284 | } |
285 | ||
29e809e0 JM |
286 | uint8_t Robot::register_motor(StepperMotor *motor) |
287 | { | |
288 | // register this motor with the step ticker | |
289 | THEKERNEL->step_ticker->register_motor(motor); | |
290 | if(n_motors >= k_max_actuators) { | |
291 | // this is a fatal error | |
292 | THEKERNEL->streams->printf("FATAL: too many motors, increase k_max_actuators\n"); | |
293 | __debugbreak(); | |
294 | } | |
2cd32d70 | 295 | actuators.push_back(motor); |
8e30d648 | 296 | motor->set_motor_id(n_motors); |
2cd32d70 | 297 | return n_motors++; |
29e809e0 JM |
298 | } |
299 | ||
212caccd JM |
300 | void Robot::push_state() |
301 | { | |
03b01bac | 302 | bool am = this->absolute_mode; |
29e809e0 | 303 | bool em = this->e_absolute_mode; |
03b01bac | 304 | bool im = this->inch_mode; |
29e809e0 | 305 | saved_state_t s(this->feed_rate, this->seek_rate, am, em, im, current_wcs); |
212caccd JM |
306 | state_stack.push(s); |
307 | } | |
308 | ||
309 | void Robot::pop_state() | |
310 | { | |
03b01bac JM |
311 | if(!state_stack.empty()) { |
312 | auto s = state_stack.top(); | |
212caccd | 313 | state_stack.pop(); |
03b01bac JM |
314 | this->feed_rate = std::get<0>(s); |
315 | this->seek_rate = std::get<1>(s); | |
316 | this->absolute_mode = std::get<2>(s); | |
29e809e0 JM |
317 | this->e_absolute_mode = std::get<3>(s); |
318 | this->inch_mode = std::get<4>(s); | |
319 | this->current_wcs = std::get<5>(s); | |
212caccd JM |
320 | } |
321 | } | |
322 | ||
34210908 JM |
323 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
324 | { | |
325 | std::vector<wcs_t> v; | |
0b8b81b6 | 326 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
327 | for(auto& i : wcs_offsets) { |
328 | v.push_back(i); | |
329 | } | |
330 | v.push_back(g92_offset); | |
331 | v.push_back(tool_offset); | |
332 | return v; | |
333 | } | |
334 | ||
fdfa00d2 JM |
335 | void Robot::get_current_machine_position(float *pos) const |
336 | { | |
337 | // get real time current actuator position in mm | |
338 | ActuatorCoordinates current_position{ | |
339 | actuators[X_AXIS]->get_current_position(), | |
340 | actuators[Y_AXIS]->get_current_position(), | |
341 | actuators[Z_AXIS]->get_current_position() | |
342 | }; | |
343 | ||
344 | // get machine position from the actuator position using FK | |
345 | arm_solution->actuator_to_cartesian(current_position, pos); | |
346 | } | |
347 | ||
12ce413f | 348 | void Robot::print_position(uint8_t subcode, std::string& res, bool ignore_extruders) const |
2791c829 JM |
349 | { |
350 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
351 | // it returns the realtime position based on the current step position of the actuators. | |
352 | // this does require a FK to get a machine position from the actuator position | |
353 | // and then invert all the transforms to get a workspace position from machine position | |
45ca77ec | 354 | // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position |
5fe7262c | 355 | uint32_t n = 0; |
cb6bfefa | 356 | char buf[64]; |
e03f2747 | 357 | if(subcode == 0) { // M114 print WCS |
45ca77ec | 358 | wcs_t pos= mcs2wcs(machine_position); |
cb6bfefa | 359 | n = snprintf(buf, sizeof(buf), "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 360 | |
81c3ecbf JM |
361 | } else if(subcode == 4) { |
362 | // M114.4 print last milestone | |
cb6bfefa | 363 | n = snprintf(buf, sizeof(buf), "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position[X_AXIS], machine_position[Y_AXIS], machine_position[Z_AXIS]); |
2791c829 | 364 | |
81c3ecbf JM |
365 | } else if(subcode == 5) { |
366 | // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) | |
367 | // will differ from LMS by the compensation at the current position otherwise | |
cb6bfefa | 368 | n = snprintf(buf, sizeof(buf), "CMP: X:%1.4f Y:%1.4f Z:%1.4f", compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
2791c829 JM |
369 | |
370 | } else { | |
371 | // get real time positions | |
2791c829 | 372 | float mpos[3]; |
fdfa00d2 JM |
373 | get_current_machine_position(mpos); |
374 | ||
8fe38353 JM |
375 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
376 | if(compensationTransform) compensationTransform(mpos, true); // get inverse compensation transform | |
2791c829 | 377 | |
e03f2747 | 378 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 | 379 | wcs_t pos= mcs2wcs(mpos); |
cb6bfefa | 380 | n = snprintf(buf, sizeof(buf), "WCS: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 381 | |
df4574e0 | 382 | } else if(subcode == 2) { // M114.2 print realtime Machine coordinate system |
cb6bfefa | 383 | n = snprintf(buf, sizeof(buf), "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
2791c829 | 384 | |
df4574e0 | 385 | } else if(subcode == 3) { // M114.3 print realtime actuator position |
fdfa00d2 JM |
386 | // get real time current actuator position in mm |
387 | ActuatorCoordinates current_position{ | |
388 | actuators[X_AXIS]->get_current_position(), | |
389 | actuators[Y_AXIS]->get_current_position(), | |
390 | actuators[Z_AXIS]->get_current_position() | |
391 | }; | |
cb6bfefa | 392 | n = snprintf(buf, sizeof(buf), "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
2791c829 JM |
393 | } |
394 | } | |
96ef0809 | 395 | |
5fe7262c | 396 | if(n > sizeof(buf)) n= sizeof(buf); |
cb6bfefa JM |
397 | res.append(buf, n); |
398 | ||
96ef0809 JM |
399 | #if MAX_ROBOT_ACTUATORS > 3 |
400 | // deal with the ABC axis | |
401 | for (int i = A_AXIS; i < n_motors; ++i) { | |
cb6bfefa | 402 | n= 0; |
12ce413f | 403 | if(ignore_extruders && actuators[i]->is_extruder()) continue; // don't show an extruder as that will be E |
96ef0809 | 404 | if(subcode == 4) { // M114.4 print last milestone |
cb6bfefa | 405 | n= snprintf(buf, sizeof(buf), " %c:%1.4f", 'A'+i-A_AXIS, machine_position[i]); |
96ef0809 | 406 | |
866eaaba | 407 | }else if(subcode == 2 || subcode == 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC |
96ef0809 | 408 | // current actuator position |
cb6bfefa | 409 | n= snprintf(buf, sizeof(buf), " %c:%1.4f", 'A'+i-A_AXIS, actuators[i]->get_current_position()); |
96ef0809 | 410 | } |
5fe7262c | 411 | if(n > sizeof(buf)) n= sizeof(buf); |
cb6bfefa | 412 | if(n > 0) res.append(buf, n); |
96ef0809 JM |
413 | } |
414 | #endif | |
2791c829 JM |
415 | } |
416 | ||
dc27139b | 417 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 418 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
419 | { |
420 | return std::make_tuple( | |
31c6c2c2 JM |
421 | std::get<X_AXIS>(pos) - std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset) - std::get<X_AXIS>(tool_offset), |
422 | std::get<Y_AXIS>(pos) - std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset) - std::get<Y_AXIS>(tool_offset), | |
423 | std::get<Z_AXIS>(pos) - std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset) - std::get<Z_AXIS>(tool_offset) | |
dc27139b JM |
424 | ); |
425 | } | |
426 | ||
dd0a7cfa JM |
427 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
428 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
429 | void Robot::check_max_actuator_speeds() | |
430 | { | |
29e809e0 | 431 | for (size_t i = 0; i < n_motors; i++) { |
6a5a91e0 JM |
432 | if(actuators[i]->is_extruder()) continue; //extruders are not included in this check |
433 | ||
807b9b57 JM |
434 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
435 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
436 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
ad6a77d1 | 437 | THEKERNEL->streams->printf("WARNING: actuator %d rate exceeds base_stepping_frequency * ..._steps_per_mm: %f, setting to %f\n", i, step_freq, actuators[i]->get_max_rate()); |
807b9b57 | 438 | } |
dd0a7cfa JM |
439 | } |
440 | } | |
441 | ||
4cff3ded | 442 | //A GCode has been received |
edac9072 | 443 | //See if the current Gcode line has some orders for us |
4710532a JM |
444 | void Robot::on_gcode_received(void *argument) |
445 | { | |
446 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 447 | |
29e809e0 | 448 | enum MOTION_MODE_T motion_mode= NONE; |
4cff3ded | 449 | |
4710532a JM |
450 | if( gcode->has_g) { |
451 | switch( gcode->g ) { | |
29e809e0 JM |
452 | case 0: motion_mode = SEEK; break; |
453 | case 1: motion_mode = LINEAR; break; | |
454 | case 2: motion_mode = CW_ARC; break; | |
455 | case 3: motion_mode = CCW_ARC; break; | |
df0783b7 | 456 | case 4: { // G4 Dwell |
03b01bac | 457 | uint32_t delay_ms = 0; |
c3df978d | 458 | if (gcode->has_letter('P')) { |
df0783b7 JM |
459 | if(THEKERNEL->is_grbl_mode()) { |
460 | // in grbl mode (and linuxcnc) P is decimal seconds | |
461 | float f= gcode->get_value('P'); | |
462 | delay_ms= f * 1000.0F; | |
463 | ||
464 | }else{ | |
465 | // in reprap P is milliseconds, they always have to be different! | |
466 | delay_ms = gcode->get_int('P'); | |
467 | } | |
c3df978d JM |
468 | } |
469 | if (gcode->has_letter('S')) { | |
470 | delay_ms += gcode->get_int('S') * 1000; | |
471 | } | |
03b01bac | 472 | if (delay_ms > 0) { |
c3df978d | 473 | // drain queue |
04782655 | 474 | THEKERNEL->conveyor->wait_for_idle(); |
c3df978d | 475 | // wait for specified time |
03b01bac JM |
476 | uint32_t start = us_ticker_read(); // mbed call |
477 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 478 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 479 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
480 | } |
481 | } | |
adba2978 | 482 | } |
6b661ab3 | 483 | break; |
807b9b57 | 484 | |
a6bbe768 | 485 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 486 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
487 | size_t n = gcode->get_uint('P'); |
488 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 489 | else --n; |
0b8b81b6 | 490 | if(n < MAX_WCS) { |
807b9b57 | 491 | float x, y, z; |
03b01bac | 492 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 493 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 494 | // this makes the current machine position (less compensation transform) the offset |
dc27139b | 495 | // get current position in WCS |
45ca77ec | 496 | wcs_t pos= mcs2wcs(machine_position); |
dc27139b JM |
497 | |
498 | if(gcode->has_letter('X')){ | |
499 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
500 | } | |
501 | ||
502 | if(gcode->has_letter('Y')){ | |
503 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
504 | } | |
505 | if(gcode->has_letter('Z')) { | |
506 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
507 | } | |
508 | ||
a6bbe768 | 509 | } else { |
bb4e919a JM |
510 | if(absolute_mode) { |
511 | // the value is the offset from machine zero | |
512 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
513 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
514 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
515 | }else{ | |
516 | if(gcode->has_letter('X')) x += to_millimeters(gcode->get_value('X')); | |
517 | if(gcode->has_letter('Y')) y += to_millimeters(gcode->get_value('Y')); | |
518 | if(gcode->has_letter('Z')) z += to_millimeters(gcode->get_value('Z')); | |
519 | } | |
00e607c7 | 520 | } |
03b01bac | 521 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
522 | } |
523 | } | |
524 | break; | |
525 | ||
6e92ab91 JM |
526 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
527 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
528 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
529 | case 20: this->inch_mode = true; break; | |
530 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
531 | |
532 | case 54: case 55: case 56: case 57: case 58: case 59: | |
533 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 534 | current_wcs = gcode->g - 54; |
807b9b57 JM |
535 | if(gcode->g == 59 && gcode->subcode > 0) { |
536 | current_wcs += gcode->subcode; | |
0b8b81b6 | 537 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
538 | } |
539 | break; | |
540 | ||
29e809e0 JM |
541 | case 90: this->absolute_mode = true; this->e_absolute_mode = true; break; |
542 | case 91: this->absolute_mode = false; this->e_absolute_mode = false; break; | |
807b9b57 | 543 | |
0b804a41 | 544 | case 92: { |
a9e8c04b | 545 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
546 | // reset G92 offsets to 0 |
547 | g92_offset = wcs_t(0, 0, 0); | |
548 | ||
cee8bc1d JM |
549 | } else if(gcode->subcode == 3) { |
550 | // initialize G92 to the specified values, only used for saving it with M500 | |
551 | float x= 0, y= 0, z= 0; | |
552 | if(gcode->has_letter('X')) x= gcode->get_value('X'); | |
553 | if(gcode->has_letter('Y')) y= gcode->get_value('Y'); | |
554 | if(gcode->has_letter('Z')) z= gcode->get_value('Z'); | |
555 | g92_offset = wcs_t(x, y, z); | |
556 | ||
4710532a | 557 | } else { |
61a3fa99 | 558 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 559 | float x, y, z; |
03b01bac | 560 | std::tie(x, y, z) = g92_offset; |
61a3fa99 | 561 | // get current position in WCS |
45ca77ec | 562 | wcs_t pos= mcs2wcs(machine_position); |
61a3fa99 JM |
563 | |
564 | // adjust g92 offset to make the current wpos == the value requested | |
565 | if(gcode->has_letter('X')){ | |
566 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
567 | } | |
dc27139b JM |
568 | if(gcode->has_letter('Y')){ |
569 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
570 | } | |
571 | if(gcode->has_letter('Z')) { | |
572 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
573 | } | |
03b01bac | 574 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 575 | } |
a6bbe768 | 576 | |
13ad7234 JM |
577 | #if MAX_ROBOT_ACTUATORS > 3 |
578 | if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){ | |
579 | // reset the E position, legacy for 3d Printers to be reprap compatible | |
580 | // find the selected extruder | |
325ed08b JM |
581 | int selected_extruder= get_active_extruder(); |
582 | if(selected_extruder > 0) { | |
583 | float e= gcode->has_letter('E') ? gcode->get_value('E') : 0; | |
584 | machine_position[selected_extruder]= compensated_machine_position[selected_extruder]= e; | |
585 | actuators[selected_extruder]->change_last_milestone(get_e_scale_fnc ? e*get_e_scale_fnc() : e); | |
13ad7234 JM |
586 | } |
587 | } | |
588 | #endif | |
589 | ||
78d0e16a | 590 | return; |
4710532a JM |
591 | } |
592 | } | |
67a649dd | 593 | |
4710532a JM |
594 | } else if( gcode->has_m) { |
595 | switch( gcode->m ) { | |
20ed51b7 JM |
596 | // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold) |
597 | // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0); | |
598 | // break; | |
01a8d21a JM |
599 | |
600 | case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file) | |
601 | if(!THEKERNEL->is_grbl_mode()) break; | |
602 | // fall through to M2 | |
807b9b57 | 603 | case 2: // M2 end of program |
03b01bac JM |
604 | current_wcs = 0; |
605 | absolute_mode = true; | |
807b9b57 | 606 | break; |
9e6014a6 JM |
607 | case 17: |
608 | THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on | |
609 | break; | |
610 | ||
d01fbc6f JM |
611 | case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off |
612 | if(gcode->get_num_args() > 0) { | |
613 | // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C | |
614 | uint32_t bm= 0; | |
615 | for (int i = 0; i < n_motors; ++i) { | |
616 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-3)); | |
617 | if(gcode->has_letter(axis)) bm |= (0x02<<i); // set appropriate bit | |
618 | } | |
559c0e6a JM |
619 | // handle E parameter as currently selected extruder ABC |
620 | if(gcode->has_letter('E')) { | |
325ed08b JM |
621 | // find first selected extruder |
622 | int i= get_active_extruder(); | |
623 | if(i > 0) { | |
624 | bm |= (0x02<<i); // set appropriate bit | |
559c0e6a JM |
625 | } |
626 | } | |
627 | ||
d01fbc6f JM |
628 | THEKERNEL->conveyor->wait_for_idle(); |
629 | THEKERNEL->call_event(ON_ENABLE, (void *)bm); | |
630 | break; | |
631 | } | |
632 | // fall through | |
9e6014a6 | 633 | case 84: |
04782655 | 634 | THEKERNEL->conveyor->wait_for_idle(); |
9e6014a6 JM |
635 | THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off |
636 | break; | |
807b9b57 | 637 | |
29e809e0 JM |
638 | case 82: e_absolute_mode= true; break; |
639 | case 83: e_absolute_mode= false; break; | |
640 | ||
0fb5b438 | 641 | case 92: // M92 - set steps per mm |
5acc50ad | 642 | for (int i = 0; i < n_motors; ++i) { |
13721c6c | 643 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
644 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); |
645 | if(gcode->has_letter(axis)) { | |
646 | actuators[i]->change_steps_per_mm(this->to_millimeters(gcode->get_value(axis))); | |
647 | } | |
648 | gcode->stream->printf("%c:%f ", axis, actuators[i]->get_steps_per_mm()); | |
649 | } | |
0fb5b438 | 650 | gcode->add_nl = true; |
dd0a7cfa | 651 | check_max_actuator_speeds(); |
0fb5b438 | 652 | return; |
562db364 | 653 | |
e03f2747 | 654 | case 114:{ |
cb6bfefa | 655 | std::string buf; |
12ce413f | 656 | print_position(gcode->subcode, buf, true); // ignore extruders as they will print E themselves |
cb6bfefa | 657 | gcode->txt_after_ok.append(buf); |
2791c829 | 658 | return; |
e03f2747 | 659 | } |
33e4cc02 | 660 | |
212caccd JM |
661 | case 120: // push state |
662 | push_state(); | |
663 | break; | |
562db364 JM |
664 | |
665 | case 121: // pop state | |
212caccd | 666 | pop_state(); |
562db364 JM |
667 | break; |
668 | ||
125b71ce JM |
669 | case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates |
670 | if(gcode->get_num_args() == 0) { | |
671 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
55783268 | 672 | gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate()); |
125b71ce | 673 | } |
5acc50ad JM |
674 | if(gcode->subcode == 1) { |
675 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
13721c6c | 676 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
677 | gcode->stream->printf(" %c: %g ", 'A' + i - A_AXIS, actuators[i]->get_max_rate()); |
678 | } | |
679 | } | |
680 | ||
125b71ce | 681 | gcode->add_nl = true; |
dd0a7cfa | 682 | |
125b71ce JM |
683 | }else{ |
684 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
685 | if (gcode->has_letter('X' + i)) { | |
55783268 JM |
686 | float v= gcode->get_value('X'+i); |
687 | if(gcode->subcode == 0) this->max_speeds[i]= v; | |
688 | else if(gcode->subcode == 1) actuators[i]->set_max_rate(v); | |
125b71ce JM |
689 | } |
690 | } | |
3e1ea0e2 | 691 | |
5acc50ad JM |
692 | if(gcode->subcode == 1) { |
693 | // ABC axis only handle actuator max speeds | |
694 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
695 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
696 | int c= 'A' + i - A_AXIS; | |
697 | if(gcode->has_letter(c)) { | |
698 | float v= gcode->get_value(c); | |
699 | actuators[i]->set_max_rate(v); | |
700 | } | |
701 | } | |
702 | } | |
703 | ||
704 | ||
3e1ea0e2 JM |
705 | // this format is deprecated |
706 | if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) { | |
707 | gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n"); | |
be7f67cd | 708 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
3e1ea0e2 JM |
709 | if (gcode->has_letter('A' + i)) { |
710 | float v= gcode->get_value('A'+i); | |
711 | actuators[i]->set_max_rate(v); | |
712 | } | |
713 | } | |
714 | } | |
715 | ||
55783268 | 716 | if(gcode->subcode == 1) check_max_actuator_speeds(); |
807b9b57 | 717 | } |
125b71ce | 718 | break; |
83488642 | 719 | |
29e809e0 | 720 | case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration |
4710532a | 721 | if (gcode->has_letter('S')) { |
4710532a | 722 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 723 | // enforce minimum |
29e809e0 JM |
724 | if (acc < 1.0F) acc = 1.0F; |
725 | this->default_acceleration = acc; | |
d4ee6ee2 | 726 | } |
5acc50ad JM |
727 | for (int i = 0; i < n_motors; ++i) { |
728 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
729 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
730 | if(gcode->has_letter(axis)) { | |
731 | float acc = gcode->get_value(axis); // mm/s^2 | |
29e809e0 JM |
732 | // enforce positive |
733 | if (acc <= 0.0F) acc = NAN; | |
734 | actuators[i]->set_acceleration(acc); | |
735 | } | |
c5fe1787 | 736 | } |
d4ee6ee2 JM |
737 | break; |
738 | ||
125b71ce | 739 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed |
4710532a JM |
740 | if (gcode->has_letter('X')) { |
741 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 742 | // enforce minimum |
8b69c90d JM |
743 | if (jd < 0.0F) |
744 | jd = 0.0F; | |
4710532a | 745 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 746 | } |
107df03f JM |
747 | if (gcode->has_letter('Z')) { |
748 | float jd = gcode->get_value('Z'); | |
749 | // enforce minimum, -1 disables it and uses regular junction deviation | |
73a0eab6 JM |
750 | if (jd <= -1.0F) |
751 | jd = NAN; | |
107df03f JM |
752 | THEKERNEL->planner->z_junction_deviation = jd; |
753 | } | |
4710532a JM |
754 | if (gcode->has_letter('S')) { |
755 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
756 | // enforce minimum |
757 | if (mps < 0.0F) | |
758 | mps = 0.0F; | |
4710532a | 759 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 760 | } |
d4ee6ee2 | 761 | break; |
98761c28 | 762 | |
7e9e31b0 | 763 | case 211: // M211 Sn turns soft endstops on/off |
bb81b569 JM |
764 | if(gcode->has_letter('S')) { |
765 | soft_endstop_enabled= gcode->get_uint('S') == 1; | |
766 | }else{ | |
767 | gcode->stream->printf("Soft endstops are %s", soft_endstop_enabled ? "Enabled" : "Disabled"); | |
768 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { | |
845e6efb JM |
769 | if(isnan(soft_endstop_min[i])) { |
770 | gcode->stream->printf(",%c min is disabled", 'X'+i); | |
771 | } | |
772 | if(isnan(soft_endstop_max[i])) { | |
773 | gcode->stream->printf(",%c max is disabled", 'X'+i); | |
774 | } | |
bb81b569 | 775 | if(!is_homed(i)) { |
845e6efb | 776 | gcode->stream->printf(",%c axis is not homed", 'X'+i); |
bb81b569 | 777 | } |
845e6efb | 778 | } |
bb81b569 JM |
779 | gcode->stream->printf("\n"); |
780 | } | |
7e9e31b0 JM |
781 | break; |
782 | ||
7369629d | 783 | case 220: // M220 - speed override percentage |
4710532a | 784 | if (gcode->has_letter('S')) { |
1ad23cd3 | 785 | float factor = gcode->get_value('S'); |
98761c28 | 786 | // enforce minimum 10% speed |
da947c62 MM |
787 | if (factor < 10.0F) |
788 | factor = 10.0F; | |
789 | // enforce maximum 10x speed | |
790 | if (factor > 1000.0F) | |
791 | factor = 1000.0F; | |
792 | ||
793 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 794 | } else { |
9ef9f45b | 795 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 796 | } |
b4f56013 | 797 | break; |
ec4773e5 | 798 | |
494dc541 | 799 | case 400: // wait until all moves are done up to this point |
04782655 | 800 | THEKERNEL->conveyor->wait_for_idle(); |
494dc541 JM |
801 | break; |
802 | ||
33e4cc02 | 803 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 804 | case 503: { // M503 just prints the settings |
5acc50ad JM |
805 | gcode->stream->printf(";Steps per unit:\nM92 "); |
806 | for (int i = 0; i < n_motors; ++i) { | |
807 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
808 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
809 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_steps_per_mm()); | |
810 | } | |
811 | gcode->stream->printf("\n"); | |
df56baf2 | 812 | |
5acc50ad | 813 | // only print if not NAN |
df56baf2 | 814 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration); |
5acc50ad JM |
815 | for (int i = 0; i < n_motors; ++i) { |
816 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
817 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
818 | if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_acceleration()); | |
df56baf2 JM |
819 | } |
820 | gcode->stream->printf("\n"); | |
821 | ||
43fa8fd2 | 822 | gcode->stream->printf(";X- Junction Deviation, Z- Z junction deviation, S - Minimum Planner speed mm/sec:\nM205 X%1.5f Z%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, isnan(THEKERNEL->planner->z_junction_deviation)?-1:THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
125b71ce JM |
823 | |
824 | gcode->stream->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f\n", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); | |
5acc50ad JM |
825 | |
826 | gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 "); | |
827 | for (int i = 0; i < n_motors; ++i) { | |
828 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
829 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
830 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_max_rate()); | |
831 | } | |
832 | gcode->stream->printf("\n"); | |
b7cd847e JM |
833 | |
834 | // get or save any arm solution specific optional values | |
835 | BaseSolution::arm_options_t options; | |
836 | if(arm_solution->get_optional(options) && !options.empty()) { | |
837 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 838 | for(auto &i : options) { |
b7cd847e JM |
839 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
840 | } | |
841 | gcode->stream->printf("\n"); | |
842 | } | |
6e92ab91 | 843 | |
807b9b57 JM |
844 | // save wcs_offsets and current_wcs |
845 | // TODO this may need to be done whenever they change to be compliant | |
846 | gcode->stream->printf(";WCS settings\n"); | |
40fd5d98 | 847 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); |
03b01bac | 848 | int n = 1; |
807b9b57 | 849 | for(auto &i : wcs_offsets) { |
2791c829 | 850 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
851 | float x, y, z; |
852 | std::tie(x, y, z) = i; | |
40fd5d98 | 853 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n, x, y, z, wcs2gcode(n-1).c_str()); |
2791c829 | 854 | } |
807b9b57 JM |
855 | ++n; |
856 | } | |
3aad33c7 JM |
857 | if(save_g92) { |
858 | // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility | |
859 | // also it needs to be used to set Z0 on rotary deltas as M206/306 can't be used, so saving it is necessary in that case | |
860 | if(g92_offset != wcs_t(0, 0, 0)) { | |
861 | float x, y, z; | |
862 | std::tie(x, y, z) = g92_offset; | |
863 | gcode->stream->printf("G92.3 X%f Y%f Z%f\n", x, y, z); // sets G92 to the specified values | |
864 | } | |
67a649dd JM |
865 | } |
866 | } | |
807b9b57 | 867 | break; |
33e4cc02 | 868 | |
b7cd847e | 869 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 870 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 871 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
872 | options.erase('S'); // don't include the S |
873 | options.erase('U'); // don't include the U | |
874 | if(options.size() > 0) { | |
875 | // set the specified options | |
876 | arm_solution->set_optional(options); | |
877 | } | |
878 | options.clear(); | |
b7cd847e | 879 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 880 | // foreach optional value |
4710532a | 881 | for(auto &i : options) { |
b7cd847e JM |
882 | // print all current values of supported options |
883 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 884 | gcode->add_nl = true; |
ec4773e5 JM |
885 | } |
886 | } | |
ec4773e5 | 887 | |
4a839bea | 888 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 889 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
890 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
891 | ||
03b01bac | 892 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
893 | this->mm_per_line_segment = gcode->get_value('U'); |
894 | this->delta_segments_per_second = 0; | |
895 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 896 | } |
4a839bea | 897 | |
ec4773e5 | 898 | break; |
b7cd847e | 899 | } |
6989211c | 900 | } |
494dc541 JM |
901 | } |
902 | ||
29e809e0 | 903 | if( motion_mode != NONE) { |
e560f057 | 904 | is_g123= motion_mode != SEEK; |
29e809e0 | 905 | process_move(gcode, motion_mode); |
e560f057 JM |
906 | |
907 | }else{ | |
908 | is_g123= false; | |
00e607c7 | 909 | } |
6bc4a00a | 910 | |
c2f7c261 JM |
911 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
912 | } | |
350c8a60 | 913 | |
325ed08b JM |
914 | int Robot::get_active_extruder() const |
915 | { | |
916 | for (int i = E_AXIS; i < n_motors; ++i) { | |
917 | // find first selected extruder | |
aef2eec0 | 918 | if(actuators[i]->is_extruder() && actuators[i]->is_selected()) return i; |
325ed08b JM |
919 | } |
920 | return 0; | |
921 | } | |
922 | ||
5d2319a9 | 923 | // process a G0/G1/G2/G3 |
29e809e0 | 924 | void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode) |
c2f7c261 | 925 | { |
2791c829 | 926 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
ad6a77d1 | 927 | // get XYZ and one E (which goes to the selected extruder) |
29e809e0 JM |
928 | float param[4]{NAN, NAN, NAN, NAN}; |
929 | ||
930 | // process primary axis | |
350c8a60 JM |
931 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
932 | char letter= 'X'+i; | |
933 | if( gcode->has_letter(letter) ) { | |
934 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
935 | } |
936 | } | |
6bc4a00a | 937 | |
c2f7c261 | 938 | float offset[3]{0,0,0}; |
4710532a JM |
939 | for(char letter = 'I'; letter <= 'K'; letter++) { |
940 | if( gcode->has_letter(letter) ) { | |
941 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
942 | } |
943 | } | |
00e607c7 | 944 | |
c2f7c261 | 945 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
29e809e0 | 946 | float target[n_motors]; |
45ca77ec | 947 | memcpy(target, machine_position, n_motors*sizeof(float)); |
29e809e0 | 948 | |
350c8a60 JM |
949 | if(!next_command_is_MCS) { |
950 | if(this->absolute_mode) { | |
c2f7c261 JM |
951 | // apply wcs offsets and g92 offset and tool offset |
952 | if(!isnan(param[X_AXIS])) { | |
953 | target[X_AXIS]= param[X_AXIS] + std::get<X_AXIS>(wcs_offsets[current_wcs]) - std::get<X_AXIS>(g92_offset) + std::get<X_AXIS>(tool_offset); | |
954 | } | |
955 | ||
956 | if(!isnan(param[Y_AXIS])) { | |
957 | target[Y_AXIS]= param[Y_AXIS] + std::get<Y_AXIS>(wcs_offsets[current_wcs]) - std::get<Y_AXIS>(g92_offset) + std::get<Y_AXIS>(tool_offset); | |
958 | } | |
959 | ||
960 | if(!isnan(param[Z_AXIS])) { | |
961 | target[Z_AXIS]= param[Z_AXIS] + std::get<Z_AXIS>(wcs_offsets[current_wcs]) - std::get<Z_AXIS>(g92_offset) + std::get<Z_AXIS>(tool_offset); | |
962 | } | |
350c8a60 JM |
963 | |
964 | }else{ | |
45ca77ec | 965 | // they are deltas from the machine_position if specified |
350c8a60 | 966 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
45ca77ec | 967 | if(!isnan(param[i])) target[i] = param[i] + machine_position[i]; |
a6bbe768 JM |
968 | } |
969 | } | |
970 | ||
350c8a60 | 971 | }else{ |
48a0fdb6 | 972 | // already in machine coordinates, we do not add wcs or tool offset for that |
c2f7c261 JM |
973 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
974 | if(!isnan(param[i])) target[i] = param[i]; | |
975 | } | |
c2885de8 | 976 | } |
6bc4a00a | 977 | |
37b7b898 JM |
978 | float delta_e= NAN; |
979 | ||
980 | #if MAX_ROBOT_ACTUATORS > 3 | |
29e809e0 | 981 | // process extruder parameters, for active extruder only (only one active extruder at a time) |
325ed08b | 982 | int selected_extruder= 0; |
29e809e0 | 983 | if(gcode->has_letter('E')) { |
325ed08b JM |
984 | selected_extruder= get_active_extruder(); |
985 | param[E_AXIS]= gcode->get_value('E'); | |
29e809e0 JM |
986 | } |
987 | ||
988 | // do E for the selected extruder | |
29e809e0 JM |
989 | if(selected_extruder > 0 && !isnan(param[E_AXIS])) { |
990 | if(this->e_absolute_mode) { | |
991 | target[selected_extruder]= param[E_AXIS]; | |
45ca77ec | 992 | delta_e= target[selected_extruder] - machine_position[selected_extruder]; |
29e809e0 JM |
993 | }else{ |
994 | delta_e= param[E_AXIS]; | |
45ca77ec | 995 | target[selected_extruder] = delta_e + machine_position[selected_extruder]; |
29e809e0 JM |
996 | } |
997 | } | |
998 | ||
37b7b898 JM |
999 | // process ABC axis, this is mutually exclusive to using E for an extruder, so if E is used and A then the results are undefined |
1000 | for (int i = A_AXIS; i < n_motors; ++i) { | |
1001 | char letter= 'A'+i-A_AXIS; | |
1002 | if(gcode->has_letter(letter)) { | |
1003 | float p= gcode->get_value(letter); | |
1004 | if(this->absolute_mode) { | |
1005 | target[i]= p; | |
1006 | }else{ | |
5acc50ad | 1007 | target[i]= p + machine_position[i]; |
37b7b898 JM |
1008 | } |
1009 | } | |
1010 | } | |
1011 | #endif | |
1012 | ||
4710532a | 1013 | if( gcode->has_letter('F') ) { |
29e809e0 | 1014 | if( motion_mode == SEEK ) |
da947c62 | 1015 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 1016 | else |
da947c62 | 1017 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 1018 | } |
6bc4a00a | 1019 | |
73cc27d2 | 1020 | // S is modal When specified on a G0/1/2/3 command |
e560f057 JM |
1021 | if(gcode->has_letter('S')) s_value= gcode->get_value('S'); |
1022 | ||
350c8a60 | 1023 | bool moved= false; |
29e809e0 JM |
1024 | |
1025 | // Perform any physical actions | |
1026 | switch(motion_mode) { | |
1027 | case NONE: break; | |
1028 | ||
1029 | case SEEK: | |
1030 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 1031 | break; |
29e809e0 JM |
1032 | |
1033 | case LINEAR: | |
1034 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 1035 | break; |
29e809e0 JM |
1036 | |
1037 | case CW_ARC: | |
1038 | case CCW_ARC: | |
374d0777 | 1039 | // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3) |
29e809e0 | 1040 | moved= this->compute_arc(gcode, offset, target, motion_mode); |
350c8a60 | 1041 | break; |
4cff3ded | 1042 | } |
13e4a3f9 | 1043 | |
f1368fc3 JM |
1044 | // needed to act as start of next arc command |
1045 | memcpy(arc_milestone, target, sizeof(arc_milestone)); | |
1046 | ||
c2f7c261 | 1047 | if(moved) { |
45ca77ec JM |
1048 | // set machine_position to the calculated target |
1049 | memcpy(machine_position, target, n_motors*sizeof(float)); | |
350c8a60 | 1050 | } |
edac9072 AW |
1051 | } |
1052 | ||
a6bbe768 | 1053 | // reset the machine position for all axis. Used for homing. |
fd2341bc | 1054 | // after homing we supply the cartesian coordinates that the head is at when homed, |
bccd3a3e JM |
1055 | // however for Z this is the compensated machine position (if enabled) |
1056 | // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position | |
8fe38353 | 1057 | // this will make the results from M114 and ? consistent after homing. |
bccd3a3e | 1058 | // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are. |
cef9acea JM |
1059 | void Robot::reset_axis_position(float x, float y, float z) |
1060 | { | |
fd2341bc | 1061 | // set both the same initially |
45ca77ec JM |
1062 | compensated_machine_position[X_AXIS]= machine_position[X_AXIS] = x; |
1063 | compensated_machine_position[Y_AXIS]= machine_position[Y_AXIS] = y; | |
1064 | compensated_machine_position[Z_AXIS]= machine_position[Z_AXIS] = z; | |
cef9acea | 1065 | |
8fe38353 | 1066 | if(compensationTransform) { |
45ca77ec JM |
1067 | // apply inverse transform to get machine_position |
1068 | compensationTransform(machine_position, true); | |
8fe38353 JM |
1069 | } |
1070 | ||
fd2341bc | 1071 | // now set the actuator positions based on the supplied compensated position |
807b9b57 | 1072 | ActuatorCoordinates actuator_pos; |
45ca77ec | 1073 | arm_solution->cartesian_to_actuator(this->compensated_machine_position, actuator_pos); |
29e809e0 | 1074 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
cef9acea JM |
1075 | actuators[i]->change_last_milestone(actuator_pos[i]); |
1076 | } | |
1077 | ||
de2ee57c | 1078 | // Reset the position for an axis (used in homing, and to reset extruder after suspend) |
4710532a JM |
1079 | void Robot::reset_axis_position(float position, int axis) |
1080 | { | |
45ca77ec | 1081 | compensated_machine_position[axis] = position; |
de2ee57c | 1082 | if(axis <= Z_AXIS) { |
45ca77ec | 1083 | reset_axis_position(compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
7d9e5765 | 1084 | |
72420864 | 1085 | #if MAX_ROBOT_ACTUATORS > 3 |
96ef0809 | 1086 | }else if(axis < n_motors) { |
7d9e5765 JM |
1087 | // ABC and/or extruders need to be set as there is no arm solution for them |
1088 | machine_position[axis]= compensated_machine_position[axis]= position; | |
1089 | actuators[axis]->change_last_milestone(machine_position[axis]); | |
72420864 | 1090 | #endif |
de2ee57c | 1091 | } |
4cff3ded AW |
1092 | } |
1093 | ||
932a3995 | 1094 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
abf706e6 | 1095 | // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp |
93f20a8c | 1096 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) |
586cc733 | 1097 | { |
fdfa00d2 JM |
1098 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
1099 | if(!isnan(ac[i])) actuators[i]->change_last_milestone(ac[i]); | |
1100 | } | |
586cc733 JM |
1101 | |
1102 | // now correct axis positions then recorrect actuator to account for rounding | |
1103 | reset_position_from_current_actuator_position(); | |
1104 | } | |
1105 | ||
a6bbe768 | 1106 | // Use FK to find out where actuator is and reset to match |
b6187406 | 1107 | // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT |
728477c4 JM |
1108 | void Robot::reset_position_from_current_actuator_position() |
1109 | { | |
807b9b57 | 1110 | ActuatorCoordinates actuator_pos; |
9fc4679b | 1111 | for (size_t i = X_AXIS; i < n_motors; i++) { |
45ca77ec | 1112 | // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort |
807b9b57 JM |
1113 | actuator_pos[i] = actuators[i]->get_current_position(); |
1114 | } | |
58587001 JM |
1115 | |
1116 | // discover machine position from where actuators actually are | |
45ca77ec JM |
1117 | arm_solution->actuator_to_cartesian(actuator_pos, compensated_machine_position); |
1118 | memcpy(machine_position, compensated_machine_position, sizeof machine_position); | |
cf91d4f3 | 1119 | |
45ca77ec JM |
1120 | // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position |
1121 | if(compensationTransform) compensationTransform(machine_position, true); // get inverse compensation transform | |
cf91d4f3 | 1122 | |
45ca77ec | 1123 | // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate. |
58587001 | 1124 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call |
932a3995 | 1125 | // to get everything in perfect sync. |
45ca77ec | 1126 | arm_solution->cartesian_to_actuator(compensated_machine_position, actuator_pos); |
325ed08b | 1127 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
7baae81a | 1128 | actuators[i]->change_last_milestone(actuator_pos[i]); |
325ed08b JM |
1129 | } |
1130 | ||
1131 | // Handle extruders and/or ABC axis | |
1132 | #if MAX_ROBOT_ACTUATORS > 3 | |
9fc4679b | 1133 | for (int i = A_AXIS; i < n_motors; i++) { |
325ed08b JM |
1134 | // ABC and/or extruders just need to set machine_position and compensated_machine_position |
1135 | float ap= actuator_pos[i]; | |
aef2eec0 | 1136 | if(actuators[i]->is_extruder() && get_e_scale_fnc) ap /= get_e_scale_fnc(); // inverse E scale if there is one and this is an extruder |
325ed08b | 1137 | machine_position[i]= compensated_machine_position[i]= ap; |
5d34cbb3 | 1138 | actuators[i]->change_last_milestone(actuator_pos[i]); // this updates the last_milestone in the actuator |
325ed08b JM |
1139 | } |
1140 | #endif | |
728477c4 | 1141 | } |
edac9072 | 1142 | |
ad6a77d1 | 1143 | // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner |
45ca77ec | 1144 | // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes |
c2f7c261 | 1145 | // all transforms and is what we actually convert to actuator positions |
c1ebb1fe | 1146 | bool Robot::append_milestone(const float target[], float rate_mm_s) |
df6a30f2 | 1147 | { |
29e809e0 | 1148 | float deltas[n_motors]; |
1a936198 | 1149 | float transformed_target[n_motors]; // adjust target for bed compensation |
29e809e0 | 1150 | float unit_vec[N_PRIMARY_AXIS]; |
df6a30f2 | 1151 | |
3632a517 | 1152 | // unity transform by default |
29e809e0 | 1153 | memcpy(transformed_target, target, n_motors*sizeof(float)); |
5e45206a | 1154 | |
350c8a60 | 1155 | // check function pointer and call if set to transform the target to compensate for bed |
c1ebb1fe | 1156 | if(compensationTransform) { |
350c8a60 | 1157 | // some compensation strategies can transform XYZ, some just change Z |
8fe38353 | 1158 | compensationTransform(transformed_target, false); |
00e607c7 | 1159 | } |
807b9b57 | 1160 | |
7e9e31b0 JM |
1161 | // check soft endstops only for homed axis that are enabled |
1162 | if(soft_endstop_enabled) { | |
1163 | for (int i = 0; i <= Z_AXIS; ++i) { | |
1164 | if(!is_homed(i)) continue; | |
1165 | if( (!isnan(soft_endstop_min[i]) && transformed_target[i] < soft_endstop_min[i]) || (!isnan(soft_endstop_max[i]) && transformed_target[i] > soft_endstop_max[i]) ) { | |
1166 | if(soft_endstop_halt) { | |
e6c2b5b6 JM |
1167 | if(THEKERNEL->is_grbl_mode()) { |
1168 | THEKERNEL->streams->printf("error: "); | |
1169 | }else{ | |
1170 | THEKERNEL->streams->printf("Error: "); | |
1171 | } | |
1172 | ||
1173 | THEKERNEL->streams->printf("Soft Endstop %c was exceeded - reset or $X or M999 required\n", i+'X'); | |
7e9e31b0 JM |
1174 | THEKERNEL->call_event(ON_HALT, nullptr); |
1175 | return false; | |
1176 | ||
1177 | //} else if(soft_endstop_truncate) { | |
1178 | // TODO VERY hard to do need to go back and change the target, and calculate intercept with the edge | |
94a906ee | 1179 | // and store all preceding vectors that have on eor more points ourtside of bounds so we can create a propper clip against the boundaries |
7e9e31b0 JM |
1180 | |
1181 | } else { | |
1182 | // ignore it | |
e6c2b5b6 JM |
1183 | if(THEKERNEL->is_grbl_mode()) { |
1184 | THEKERNEL->streams->printf("error: "); | |
1185 | }else{ | |
1186 | THEKERNEL->streams->printf("Error: "); | |
1187 | } | |
1188 | THEKERNEL->streams->printf("Soft Endstop %c was exceeded - entire move ignored\n", i+'X'); | |
7e9e31b0 JM |
1189 | return false; |
1190 | } | |
1191 | } | |
1192 | } | |
1193 | } | |
1194 | ||
1195 | ||
29e809e0 | 1196 | bool move= false; |
b5bd71f8 | 1197 | float sos= 0; // sum of squares for just primary axis (XYZ usually) |
29e809e0 | 1198 | |
b84bd559 | 1199 | // find distance moved by each axis, use transformed target from the current compensated machine position |
ec45206d | 1200 | for (size_t i = 0; i < n_motors; i++) { |
45ca77ec | 1201 | deltas[i] = transformed_target[i] - compensated_machine_position[i]; |
29e809e0 JM |
1202 | if(deltas[i] == 0) continue; |
1203 | // at least one non zero delta | |
1204 | move = true; | |
b5bd71f8 | 1205 | if(i < N_PRIMARY_AXIS) { |
29e809e0 | 1206 | sos += powf(deltas[i], 2); |
121094a5 | 1207 | } |
3632a517 | 1208 | } |
aab6cbba | 1209 | |
29e809e0 JM |
1210 | // nothing moved |
1211 | if(!move) return false; | |
1212 | ||
850b4eeb | 1213 | // see if this is a primary axis move or not |
b5bd71f8 JM |
1214 | bool auxilliary_move= true; |
1215 | for (int i = 0; i < N_PRIMARY_AXIS; ++i) { | |
1216 | if(deltas[i] != 0) { | |
1217 | auxilliary_move= false; | |
1218 | break; | |
1219 | } | |
1220 | } | |
29e809e0 | 1221 | |
850b4eeb JM |
1222 | // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm |
1223 | float distance= auxilliary_move ? 0 : sqrtf(sos); | |
df6a30f2 | 1224 | |
a6bbe768 JM |
1225 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
1226 | // as the last milestone won't be updated we do not actually lose any moves as they will be accounted for in the next move | |
850b4eeb | 1227 | if(!auxilliary_move && distance < 0.00001F) return false; |
a6bbe768 | 1228 | |
a6bbe768 | 1229 | |
29e809e0 | 1230 | if(!auxilliary_move) { |
b5bd71f8 | 1231 | for (size_t i = X_AXIS; i < N_PRIMARY_AXIS; i++) { |
14a90ad5 | 1232 | // find distance unit vector for primary axis only |
850b4eeb | 1233 | unit_vec[i] = deltas[i] / distance; |
df6a30f2 | 1234 | |
14a90ad5 | 1235 | // Do not move faster than the configured cartesian limits for XYZ |
bcc06c36 | 1236 | if ( i <= Z_AXIS && max_speeds[i] > 0 ) { |
14a90ad5 JM |
1237 | float axis_speed = fabsf(unit_vec[i] * rate_mm_s); |
1238 | ||
1239 | if (axis_speed > max_speeds[i]) | |
1240 | rate_mm_s *= ( max_speeds[i] / axis_speed ); | |
2cd32d70 | 1241 | } |
7b470506 AW |
1242 | } |
1243 | } | |
4cff3ded | 1244 | |
c2f7c261 | 1245 | // find actuator position given the machine position, use actual adjusted target |
29e809e0 | 1246 | ActuatorCoordinates actuator_pos; |
84cf4071 JM |
1247 | if(!disable_arm_solution) { |
1248 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); | |
1249 | ||
1250 | }else{ | |
1251 | // basically the same as cartesian, would be used for special homing situations like for scara | |
1252 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
1253 | actuator_pos[i] = transformed_target[i]; | |
1254 | } | |
1255 | } | |
df6a30f2 | 1256 | |
13ad7234 | 1257 | #if MAX_ROBOT_ACTUATORS > 3 |
850b4eeb | 1258 | sos= 0; |
ad6a77d1 | 1259 | // for the extruders just copy the position, and possibly scale it from mm³ to mm |
374d0777 | 1260 | for (size_t i = E_AXIS; i < n_motors; i++) { |
850b4eeb | 1261 | actuator_pos[i]= transformed_target[i]; |
aef2eec0 | 1262 | if(actuators[i]->is_extruder() && get_e_scale_fnc) { |
29e809e0 JM |
1263 | // NOTE this relies on the fact only one extruder is active at a time |
1264 | // scale for volumetric or flow rate | |
1265 | // TODO is this correct? scaling the absolute target? what if the scale changes? | |
ec45206d | 1266 | // for volumetric it basically converts mm³ to mm, but what about flow rate? |
121094a5 | 1267 | actuator_pos[i] *= get_e_scale_fnc(); |
29e809e0 | 1268 | } |
850b4eeb JM |
1269 | if(auxilliary_move) { |
1270 | // for E only moves we need to use the scaled E to calculate the distance | |
a3b16417 | 1271 | sos += powf(actuator_pos[i] - actuators[i]->get_last_milestone(), 2); |
850b4eeb JM |
1272 | } |
1273 | } | |
1274 | if(auxilliary_move) { | |
850b4eeb | 1275 | distance= sqrtf(sos); // distance in mm of the e move |
1843a68f | 1276 | if(distance < 0.00001F) return false; |
29e809e0 JM |
1277 | } |
1278 | #endif | |
1279 | ||
1280 | // use default acceleration to start with | |
1281 | float acceleration = default_acceleration; | |
1282 | ||
850b4eeb | 1283 | float isecs = rate_mm_s / distance; |
29e809e0 | 1284 | |
df6a30f2 | 1285 | // check per-actuator speed limits |
29e809e0 JM |
1286 | for (size_t actuator = 0; actuator < n_motors; actuator++) { |
1287 | float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone()); | |
1288 | if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator | |
1289 | ||
1290 | float actuator_rate= d * isecs; | |
03b01bac | 1291 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 1292 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
850b4eeb | 1293 | isecs = rate_mm_s / distance; |
928467c0 | 1294 | } |
29e809e0 | 1295 | |
df56baf2 | 1296 | // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move |
14a90ad5 | 1297 | // TODO we may need to do all of them, check E won't limit XYZ.. it does on long E moves, but not checking it could exceed the E acceleration. |
b5bd71f8 | 1298 | if(auxilliary_move || actuator < N_PRIMARY_AXIS) { |
df56baf2 JM |
1299 | float ma = actuators[actuator]->get_acceleration(); // in mm/sec² |
1300 | if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration | |
850b4eeb | 1301 | float ca = fabsf((d/distance) * acceleration); |
df56baf2 JM |
1302 | if (ca > ma) { |
1303 | acceleration *= ( ma / ca ); | |
1304 | } | |
29e809e0 | 1305 | } |
14a90ad5 | 1306 | } |
928467c0 JM |
1307 | } |
1308 | ||
0de4d6b0 JM |
1309 | // if we are in feed hold wait here until it is released, this means that even segemnted lines will pause |
1310 | while(THEKERNEL->get_feed_hold()) { | |
1311 | THEKERNEL->call_event(ON_IDLE, this); | |
1312 | // if we also got a HALT then break out of this | |
1313 | if(THEKERNEL->is_halted()) return false; | |
1314 | } | |
1315 | ||
edac9072 | 1316 | // Append the block to the planner |
850b4eeb | 1317 | // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move |
0de4d6b0 | 1318 | // NOTE this call will bock until there is room in the block queue, on_idle will continue to be called |
e560f057 | 1319 | if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration, s_value, is_g123)) { |
b84bd559 | 1320 | // this is the new compensated machine position |
45ca77ec | 1321 | memcpy(this->compensated_machine_position, transformed_target, n_motors*sizeof(float)); |
07879e05 | 1322 | return true; |
6f5d947f JM |
1323 | } |
1324 | ||
07879e05 JM |
1325 | // no actual move |
1326 | return false; | |
4cff3ded AW |
1327 | } |
1328 | ||
121094a5 JM |
1329 | // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc. |
1330 | bool Robot::delta_move(const float *delta, float rate_mm_s, uint8_t naxis) | |
c8bac202 JM |
1331 | { |
1332 | if(THEKERNEL->is_halted()) return false; | |
1333 | ||
121094a5 | 1334 | // catch negative or zero feed rates |
c8bac202 JM |
1335 | if(rate_mm_s <= 0.0F) { |
1336 | return false; | |
1337 | } | |
1338 | ||
45ca77ec | 1339 | // get the absolute target position, default is current machine_position |
121094a5 | 1340 | float target[n_motors]; |
45ca77ec | 1341 | memcpy(target, machine_position, n_motors*sizeof(float)); |
c8bac202 | 1342 | |
121094a5 JM |
1343 | // add in the deltas to get new target |
1344 | for (int i= 0; i < naxis; i++) { | |
1345 | target[i] += delta[i]; | |
c8bac202 | 1346 | } |
c8bac202 | 1347 | |
45ca77ec | 1348 | // submit for planning and if moved update machine_position |
c1ebb1fe | 1349 | if(append_milestone(target, rate_mm_s)) { |
45ca77ec | 1350 | memcpy(machine_position, target, n_motors*sizeof(float)); |
121094a5 | 1351 | return true; |
29e809e0 | 1352 | } |
c8bac202 | 1353 | |
121094a5 | 1354 | return false; |
c8bac202 JM |
1355 | } |
1356 | ||
edac9072 | 1357 | // Append a move to the queue ( cutting it into segments if needed ) |
29e809e0 | 1358 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s, float delta_e) |
4710532a | 1359 | { |
121094a5 JM |
1360 | // catch negative or zero feed rates and return the same error as GRBL does |
1361 | if(rate_mm_s <= 0.0F) { | |
1362 | gcode->is_error= true; | |
1363 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1364 | return false; | |
1365 | } | |
29e809e0 JM |
1366 | |
1367 | // Find out the distance for this move in XYZ in MCS | |
45ca77ec | 1368 | float millimeters_of_travel = sqrtf(powf( target[X_AXIS] - machine_position[X_AXIS], 2 ) + powf( target[Y_AXIS] - machine_position[Y_AXIS], 2 ) + powf( target[Z_AXIS] - machine_position[Z_AXIS], 2 )); |
29e809e0 | 1369 | |
374d0777 | 1370 | if(millimeters_of_travel < 0.00001F) { |
121094a5 JM |
1371 | // we have no movement in XYZ, probably E only extrude or retract |
1372 | return this->append_milestone(target, rate_mm_s); | |
29e809e0 JM |
1373 | } |
1374 | ||
1375 | /* | |
850d5f12 JM |
1376 | For extruders, we need to do some extra work to limit the volumetric rate if specified... |
1377 | If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm | |
374d0777 JM |
1378 | We ask Extruder to do all the work but we need to pass in the relevant data. |
1379 | NOTE we need to do this before we segment the line (for deltas) | |
29e809e0 JM |
1380 | */ |
1381 | if(!isnan(delta_e) && gcode->has_g && gcode->g == 1) { | |
1382 | float data[2]= {delta_e, rate_mm_s / millimeters_of_travel}; | |
d2adef5e | 1383 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
29e809e0 | 1384 | rate_mm_s *= data[1]; // adjust the feedrate |
d2adef5e JM |
1385 | } |
1386 | } | |
1387 | ||
c2f7c261 | 1388 | // We cut the line into smaller segments. This is only needed on a cartesian robot for zgrid, but always necessary for robots with rotational axes like Deltas. |
3b4b05b8 JM |
1389 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
1390 | // The latter is more efficient and avoids splitting fast long lines into very small segments, like initial z move to 0, it is what Johanns Marlin delta port does | |
4a0c8e14 | 1391 | uint16_t segments; |
5984acdf | 1392 | |
a3e1326a | 1393 | if(this->disable_segmentation || (!segment_z_moves && !gcode->has_letter('X') && !gcode->has_letter('Y'))) { |
778093ce JM |
1394 | segments= 1; |
1395 | ||
1396 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
1397 | // enabled if set to something > 1, it is set to 0.0 by default |
1398 | // segment based on current speed and requested segments per second | |
1399 | // the faster the travel speed the fewer segments needed | |
1400 | // NOTE rate is mm/sec and we take into account any speed override | |
29e809e0 | 1401 | float seconds = millimeters_of_travel / rate_mm_s; |
9502f9d5 | 1402 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 1403 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 1404 | |
4710532a JM |
1405 | } else { |
1406 | if(this->mm_per_line_segment == 0.0F) { | |
1407 | segments = 1; // don't split it up | |
1408 | } else { | |
29e809e0 | 1409 | segments = ceilf( millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
1410 | } |
1411 | } | |
5984acdf | 1412 | |
350c8a60 | 1413 | bool moved= false; |
4710532a | 1414 | if (segments > 1) { |
2ba859c9 | 1415 | // A vector to keep track of the endpoint of each segment |
29e809e0 JM |
1416 | float segment_delta[n_motors]; |
1417 | float segment_end[n_motors]; | |
45ca77ec | 1418 | memcpy(segment_end, machine_position, n_motors*sizeof(float)); |
2ba859c9 MM |
1419 | |
1420 | // How far do we move each segment? | |
29e809e0 | 1421 | for (int i = 0; i < n_motors; i++) |
45ca77ec | 1422 | segment_delta[i] = (target[i] - machine_position[i]) / segments; |
4cff3ded | 1423 | |
c8e0fb15 MM |
1424 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
1425 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 1426 | for (int i = 1; i < segments; i++) { |
350c8a60 | 1427 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
bb206212 JM |
1428 | for (int j = 0; j < n_motors; j++) |
1429 | segment_end[j] += segment_delta[j]; | |
2ba859c9 MM |
1430 | |
1431 | // Append the end of this segment to the queue | |
0de4d6b0 | 1432 | // this can block waiting for free block queue or if in feed hold |
121094a5 | 1433 | bool b= this->append_milestone(segment_end, rate_mm_s); |
350c8a60 | 1434 | moved= moved || b; |
2ba859c9 | 1435 | } |
4cff3ded | 1436 | } |
5984acdf MM |
1437 | |
1438 | // Append the end of this full move to the queue | |
121094a5 | 1439 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
2134bcf2 | 1440 | |
a6bbe768 | 1441 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 1442 | |
350c8a60 | 1443 | return moved; |
4cff3ded AW |
1444 | } |
1445 | ||
4cff3ded | 1446 | |
edac9072 | 1447 | // Append an arc to the queue ( cutting it into segments as needed ) |
850d5f12 | 1448 | // TODO does not support any E parameters so cannot be used for 3D printing. |
350c8a60 | 1449 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 1450 | { |
121094a5 JM |
1451 | float rate_mm_s= this->feed_rate / seconds_per_minute; |
1452 | // catch negative or zero feed rates and return the same error as GRBL does | |
1453 | if(rate_mm_s <= 0.0F) { | |
1454 | gcode->is_error= true; | |
1455 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1456 | return false; | |
1457 | } | |
aab6cbba | 1458 | |
edac9072 | 1459 | // Scary math |
a8faf188 JR |
1460 | float center_axis0 = this->arc_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
1461 | float center_axis1 = this->arc_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
1462 | float linear_travel = target[this->plane_axis_2] - this->arc_milestone[this->plane_axis_2]; | |
01b2e151 | 1463 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to start position |
1ad23cd3 | 1464 | float r_axis1 = -offset[this->plane_axis_1]; |
01b2e151 | 1465 | float rt_axis0 = target[this->plane_axis_0] - this->arc_milestone[this->plane_axis_0] - offset[this->plane_axis_0]; // Radius vector from center to target position |
a8faf188 | 1466 | float rt_axis1 = target[this->plane_axis_1] - this->arc_milestone[this->plane_axis_1] - offset[this->plane_axis_1]; |
42d5c1f1 | 1467 | float angular_travel = 0; |
01b2e151 | 1468 | //check for condition where atan2 formula will fail due to everything canceling out exactly |
a8faf188 | 1469 | if((this->arc_milestone[this->plane_axis_0]==target[this->plane_axis_0]) && (this->arc_milestone[this->plane_axis_1]==target[this->plane_axis_1])) { |
01b2e151 | 1470 | if (is_clockwise) { // set angular_travel to -2pi for a clockwise full circle |
42d5c1f1 | 1471 | angular_travel = (-2 * PI); |
01b2e151 | 1472 | } else { // set angular_travel to 2pi for a counterclockwise full circle |
42d5c1f1 JR |
1473 | angular_travel = (2 * PI); |
1474 | } | |
5fa0c173 | 1475 | } else { |
42d5c1f1 JR |
1476 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
1477 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
01b2e151 | 1478 | // Only run if not a full circle or angular travel will incorrectly result in 0.0f |
42d5c1f1 | 1479 | angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
42d5c1f1 | 1480 | if (plane_axis_2 == Y_AXIS) { is_clockwise = !is_clockwise; } //Math for XZ plane is reverse of other 2 planes |
01b2e151 | 1481 | if (is_clockwise) { // adjust angular_travel to be in the range of -2pi to 0 for clockwise arcs |
42d5c1f1 | 1482 | if (angular_travel > 0) { angular_travel -= (2 * PI); } |
01b2e151 | 1483 | } else { // adjust angular_travel to be in the range of 0 to 2pi for counterclockwise arcs |
42d5c1f1 JR |
1484 | if (angular_travel < 0) { angular_travel += (2 * PI); } |
1485 | } | |
a8faf188 | 1486 | } |
01b2e151 | 1487 | |
edac9072 | 1488 | // Find the distance for this gcode |
29e809e0 | 1489 | float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel)); |
436a2cd1 | 1490 | |
edac9072 | 1491 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
64877d0a | 1492 | if( millimeters_of_travel < 0.000001F ) { |
350c8a60 | 1493 | return false; |
4710532a | 1494 | } |
5dcb2ff3 | 1495 | |
83c6e067 RA |
1496 | // limit segments by maximum arc error |
1497 | float arc_segment = this->mm_per_arc_segment; | |
4d0f60a9 | 1498 | if ((this->mm_max_arc_error > 0) && (2 * radius > this->mm_max_arc_error)) { |
83c6e067 RA |
1499 | float min_err_segment = 2 * sqrtf((this->mm_max_arc_error * (2 * radius - this->mm_max_arc_error))); |
1500 | if (this->mm_per_arc_segment < min_err_segment) { | |
1501 | arc_segment = min_err_segment; | |
1502 | } | |
1503 | } | |
64877d0a JM |
1504 | |
1505 | // catch fall through on above | |
1506 | if(arc_segment < 0.0001F) { | |
1507 | arc_segment= 0.5F; /// the old default, so we avoid the divide by zero | |
1508 | } | |
1509 | ||
5984acdf | 1510 | // Figure out how many segments for this gcode |
f8935932 | 1511 | // TODO for deltas we need to make sure we are at least as many segments as requested, also if mm_per_line_segment is set we need to use the |
64877d0a JM |
1512 | uint16_t segments = floorf(millimeters_of_travel / arc_segment); |
1513 | bool moved= false; | |
aab6cbba | 1514 | |
64877d0a JM |
1515 | if(segments > 1) { |
1516 | float theta_per_segment = angular_travel / segments; | |
1517 | float linear_per_segment = linear_travel / segments; | |
1518 | ||
1519 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1520 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1521 | r_T = [cos(phi) -sin(phi); | |
1522 | sin(phi) cos(phi] * r ; | |
1523 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1524 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1525 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1526 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1527 | all float numbers are single precision on the Arduino. (True float precision will not have | |
1528 | round off issues for CNC applications.) Single precision error can accumulate to be greater than | |
1529 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1530 | ||
1531 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1532 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1533 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1534 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1535 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1536 | issue for CNC machines with the single precision Arduino calculations. | |
1537 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1538 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1539 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1540 | This is important when there are successive arc motions. | |
1541 | */ | |
1542 | // Vector rotation matrix values | |
1543 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation | |
1544 | float sin_T = theta_per_segment; | |
1545 | ||
1546 | // TODO we need to handle the ABC axis here by segmenting them | |
1547 | float arc_target[n_motors]; | |
1548 | float sin_Ti; | |
1549 | float cos_Ti; | |
1550 | float r_axisi; | |
1551 | uint16_t i; | |
1552 | int8_t count = 0; | |
1553 | ||
1554 | // init array for all axis | |
1555 | memcpy(arc_target, machine_position, n_motors*sizeof(float)); | |
1556 | ||
1557 | // Initialize the linear axis | |
1558 | arc_target[this->plane_axis_2] = this->machine_position[this->plane_axis_2]; | |
1559 | ||
1560 | for (i = 1; i < segments; i++) { // Increment (segments-1) | |
1561 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments | |
aab6cbba | 1562 | |
64877d0a JM |
1563 | if (count < this->arc_correction ) { |
1564 | // Apply vector rotation matrix | |
1565 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1566 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1567 | r_axis1 = r_axisi; | |
1568 | count++; | |
1569 | } else { | |
1570 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
1571 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1572 | cos_Ti = cosf(i * theta_per_segment); | |
1573 | sin_Ti = sinf(i * theta_per_segment); | |
1574 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1575 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1576 | count = 0; | |
1577 | } | |
511ba1ad | 1578 | |
64877d0a JM |
1579 | // Update arc_target location |
1580 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1581 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1582 | arc_target[this->plane_axis_2] += linear_per_segment; | |
aab6cbba | 1583 | |
64877d0a JM |
1584 | // Append this segment to the queue |
1585 | bool b= this->append_milestone(arc_target, rate_mm_s); | |
1586 | moved= moved || b; | |
aab6cbba | 1587 | } |
aab6cbba | 1588 | } |
edac9072 | 1589 | |
aab6cbba | 1590 | // Ensure last segment arrives at target location. |
121094a5 | 1591 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
350c8a60 JM |
1592 | |
1593 | return moved; | |
aab6cbba AW |
1594 | } |
1595 | ||
edac9072 | 1596 | // Do the math for an arc and add it to the queue |
29e809e0 | 1597 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode) |
4710532a | 1598 | { |
aab6cbba AW |
1599 | |
1600 | // Find the radius | |
13addf09 | 1601 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
2da05afc | 1602 | |
aab6cbba AW |
1603 | // Set clockwise/counter-clockwise sign for mc_arc computations |
1604 | bool is_clockwise = false; | |
29e809e0 | 1605 | if( motion_mode == CW_ARC ) { |
4710532a JM |
1606 | is_clockwise = true; |
1607 | } | |
aab6cbba AW |
1608 | |
1609 | // Append arc | |
350c8a60 | 1610 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1611 | } |
1612 | ||
1613 | ||
4710532a JM |
1614 | float Robot::theta(float x, float y) |
1615 | { | |
1616 | float t = atanf(x / fabs(y)); | |
1617 | if (y > 0) { | |
1618 | return(t); | |
1619 | } else { | |
1620 | if (t > 0) { | |
29e809e0 | 1621 | return(PI - t); |
4710532a | 1622 | } else { |
29e809e0 | 1623 | return(-PI - t); |
4710532a JM |
1624 | } |
1625 | } | |
4cff3ded AW |
1626 | } |
1627 | ||
4710532a JM |
1628 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1629 | { | |
4cff3ded AW |
1630 | this->plane_axis_0 = axis_0; |
1631 | this->plane_axis_1 = axis_1; | |
1632 | this->plane_axis_2 = axis_2; | |
1633 | } | |
1634 | ||
fae93525 | 1635 | void Robot::clearToolOffset() |
4710532a | 1636 | { |
c2f7c261 | 1637 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1638 | } |
1639 | ||
1640 | void Robot::setToolOffset(const float offset[3]) | |
1641 | { | |
c2f7c261 | 1642 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1643 | } |
1644 | ||
0ec2f63a JM |
1645 | float Robot::get_feed_rate() const |
1646 | { | |
1647 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1648 | } | |
7e9e31b0 JM |
1649 | |
1650 | bool Robot::is_homed(uint8_t i) const | |
1651 | { | |
1652 | if(i >= 3) return false; // safety | |
1653 | ||
1654 | // if we are homing we ignore soft endstops so return false | |
1655 | bool homing; | |
1656 | bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing); | |
1657 | if(!ok || homing) return false; | |
1658 | ||
1659 | // check individual axis homing status | |
1660 | bool homed[3]; | |
1661 | ok = PublicData::get_value(endstops_checksum, get_homed_status_checksum, 0, homed); | |
1662 | if(!ok) return false; | |
1663 | return homed[i]; | |
1664 | } |