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") |
a01b9d3e | 57 | #define save_g54_checksum CHECKSUM("save_g54") |
39280f30 | 58 | #define set_g92_checksum CHECKSUM("set_g92") |
43424972 JM |
59 | |
60 | // arm solutions | |
78d0e16a MM |
61 | #define arm_solution_checksum CHECKSUM("arm_solution") |
62 | #define cartesian_checksum CHECKSUM("cartesian") | |
63 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
64 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 65 | #define linear_delta_checksum CHECKSUM("linear_delta") |
11a39396 | 66 | #define rotary_delta_checksum CHECKSUM("rotary_delta") |
78d0e16a MM |
67 | #define delta_checksum CHECKSUM("delta") |
68 | #define hbot_checksum CHECKSUM("hbot") | |
69 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 70 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 71 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 72 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 73 | |
78d0e16a MM |
74 | // new-style actuator stuff |
75 | #define actuator_checksum CHEKCSUM("actuator") | |
76 | ||
77 | #define step_pin_checksum CHECKSUM("step_pin") | |
78 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
79 | #define en_pin_checksum CHECKSUM("en_pin") | |
80 | ||
d5262155 | 81 | #define max_speed_checksum CHECKSUM("max_speed") |
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 | ||
29e809e0 | 101 | #define PI 3.14159265358979323846F // force to be float, do not use M_PI |
5fa0c173 | 102 | |
edac9072 AW |
103 | // 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 |
104 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
105 | ||
4710532a JM |
106 | Robot::Robot() |
107 | { | |
a1b7e9f0 | 108 | this->inch_mode = false; |
0e8b102e | 109 | this->absolute_mode = true; |
29e809e0 | 110 | this->e_absolute_mode = true; |
4cff3ded | 111 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
45ca77ec JM |
112 | memset(this->machine_position, 0, sizeof machine_position); |
113 | memset(this->compensated_machine_position, 0, sizeof compensated_machine_position); | |
0b804a41 | 114 | this->arm_solution = NULL; |
da947c62 | 115 | seconds_per_minute = 60.0F; |
fae93525 | 116 | this->clearToolOffset(); |
03b01bac | 117 | this->compensationTransform = nullptr; |
121094a5 | 118 | this->get_e_scale_fnc= nullptr; |
03b01bac JM |
119 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); |
120 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 121 | this->next_command_is_MCS = false; |
778093ce | 122 | this->disable_segmentation= false; |
84cf4071 | 123 | this->disable_arm_solution= false; |
29e809e0 | 124 | this->n_motors= 0; |
4cff3ded AW |
125 | } |
126 | ||
127 | //Called when the module has just been loaded | |
4710532a JM |
128 | void Robot::on_module_loaded() |
129 | { | |
4cff3ded AW |
130 | this->register_for_event(ON_GCODE_RECEIVED); |
131 | ||
132 | // Configuration | |
807b9b57 | 133 | this->load_config(); |
da24d6ae AW |
134 | } |
135 | ||
807b9b57 JM |
136 | #define ACTUATOR_CHECKSUMS(X) { \ |
137 | CHECKSUM(X "_step_pin"), \ | |
138 | CHECKSUM(X "_dir_pin"), \ | |
139 | CHECKSUM(X "_en_pin"), \ | |
140 | CHECKSUM(X "_steps_per_mm"), \ | |
29e809e0 JM |
141 | CHECKSUM(X "_max_rate"), \ |
142 | CHECKSUM(X "_acceleration") \ | |
807b9b57 | 143 | } |
5984acdf | 144 | |
807b9b57 JM |
145 | void Robot::load_config() |
146 | { | |
edac9072 AW |
147 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
148 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
149 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 150 | // Here we read the config to find out which arm solution to use |
0b804a41 | 151 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 152 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 153 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 154 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 155 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 156 | |
fff1e42d JJ |
157 | } else if(solution_checksum == corexz_checksum) { |
158 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
159 | ||
2a06c415 JM |
160 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
161 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 162 | |
4710532a | 163 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 164 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 165 | |
11a39396 JM |
166 | } else if(solution_checksum == rotary_delta_checksum) { |
167 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 168 | |
1217e470 QH |
169 | } else if(solution_checksum == morgan_checksum) { |
170 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
171 | ||
4710532a | 172 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 173 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 174 | |
4710532a | 175 | } else { |
314ab8f7 | 176 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 177 | } |
73a4e3c0 | 178 | |
6b661ab3 DP |
179 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
180 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
181 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
182 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
b259f517 | 183 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.0f)->as_number(); |
4d0f60a9 | 184 | this->mm_max_arc_error = THEKERNEL->config->value(mm_max_arc_error_checksum )->by_default( 0.01f)->as_number(); |
6b661ab3 | 185 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
78d0e16a | 186 | |
29e809e0 | 187 | // in mm/sec but specified in config as mm/min |
6b661ab3 DP |
188 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
189 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
190 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
d5262155 | 191 | this->max_speed = THEKERNEL->config->value(max_speed_checksum )->by_default( -60.0F)->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(); |
a01b9d3e | 195 | this->save_g54 = THEKERNEL->config->value(save_g54_checksum )->by_default(THEKERNEL->is_grbl_mode())->as_bool(); |
39280f30 JM |
196 | string g92 = THEKERNEL->config->value(set_g92_checksum )->by_default("")->as_string(); |
197 | if(!g92.empty()) { | |
198 | // optional setting for a fixed G92 offset | |
199 | std::vector<float> t= parse_number_list(g92.c_str()); | |
200 | if(t.size() == 3) { | |
201 | g92_offset = wcs_t(t[0], t[1], t[2]); | |
202 | } | |
203 | } | |
a3e1326a | 204 | |
507b2403 JM |
205 | // default s value for laser |
206 | this->s_value = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(0.8F)->as_number(); | |
207 | ||
319e12fc | 208 | // Make our Primary XYZ StepperMotors, and potentially A B C |
7e9e31b0 | 209 | uint16_t const motor_checksums[][6] = { |
29e809e0 JM |
210 | ACTUATOR_CHECKSUMS("alpha"), // X |
211 | ACTUATOR_CHECKSUMS("beta"), // Y | |
212 | ACTUATOR_CHECKSUMS("gamma"), // Z | |
37b7b898 JM |
213 | #if MAX_ROBOT_ACTUATORS > 3 |
214 | ACTUATOR_CHECKSUMS("delta"), // A | |
215 | #if MAX_ROBOT_ACTUATORS > 4 | |
216 | ACTUATOR_CHECKSUMS("epsilon"), // B | |
217 | #if MAX_ROBOT_ACTUATORS > 5 | |
218 | ACTUATOR_CHECKSUMS("zeta") // C | |
219 | #endif | |
220 | #endif | |
221 | #endif | |
807b9b57 | 222 | }; |
807b9b57 | 223 | |
29e809e0 JM |
224 | // default acceleration setting, can be overriden with newer per axis settings |
225 | this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2 | |
226 | ||
227 | // make each motor | |
37b7b898 | 228 | for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) { |
807b9b57 JM |
229 | Pin pins[3]; //step, dir, enable |
230 | for (size_t i = 0; i < 3; i++) { | |
7e9e31b0 | 231 | pins[i].from_string(THEKERNEL->config->value(motor_checksums[a][i])->by_default("nc")->as_string())->as_output(); |
96ef0809 JM |
232 | } |
233 | ||
4d5d8050 JM |
234 | if(!pins[0].connected() || !pins[1].connected()) { // step and dir must be defined, but enable is optional |
235 | if(a <= Z_AXIS) { | |
236 | THEKERNEL->streams->printf("FATAL: motor %c is not defined in config\n", 'X'+a); | |
237 | n_motors= a; // we only have this number of motors | |
238 | return; | |
239 | } | |
96ef0809 | 240 | break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order) |
807b9b57 | 241 | } |
37b7b898 | 242 | |
29e809e0 JM |
243 | StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]); |
244 | // register this motor (NB This must be 0,1,2) of the actuators array | |
245 | uint8_t n= register_motor(sm); | |
246 | if(n != a) { | |
247 | // this is a fatal error | |
248 | THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a); | |
4d5d8050 | 249 | return; |
29e809e0 | 250 | } |
78d0e16a | 251 | |
7e9e31b0 JM |
252 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(motor_checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
253 | 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 | |
254 | actuators[a]->set_acceleration(THEKERNEL->config->value(motor_checksums[a][5])->by_default(NAN)->as_number()); // mm/secs² | |
807b9b57 | 255 | } |
a84f0186 | 256 | |
dd0a7cfa | 257 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 258 | |
29e809e0 JM |
259 | // if we have not specified a z acceleration see if the legacy config was set |
260 | if(isnan(actuators[Z_AXIS]->get_acceleration())) { | |
261 | float acc= THEKERNEL->config->value(z_acceleration_checksum)->by_default(NAN)->as_number(); // disabled by default | |
262 | if(!isnan(acc)) { | |
263 | actuators[Z_AXIS]->set_acceleration(acc); | |
264 | } | |
265 | } | |
266 | ||
975469ad MM |
267 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
268 | // so the first move can be correct if homing is not performed | |
807b9b57 | 269 | ActuatorCoordinates actuator_pos; |
45ca77ec | 270 | arm_solution->cartesian_to_actuator(machine_position, actuator_pos); |
789e4104 | 271 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
975469ad | 272 | actuators[i]->change_last_milestone(actuator_pos[i]); |
789e4104 JM |
273 | } |
274 | ||
275 | // initialize any extra axis to machine position | |
276 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
277 | actuators[i]->change_last_milestone(machine_position[i]); | |
278 | } | |
5966b7d0 AT |
279 | |
280 | //this->clearToolOffset(); | |
7e9e31b0 JM |
281 | |
282 | soft_endstop_enabled= THEKERNEL->config->value(soft_endstop_checksum, enable_checksum)->by_default(false)->as_bool(); | |
283 | soft_endstop_halt= THEKERNEL->config->value(soft_endstop_checksum, halt_checksum)->by_default(true)->as_bool(); | |
284 | ||
285 | soft_endstop_min[X_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, xmin_checksum)->by_default(NAN)->as_number(); | |
286 | soft_endstop_min[Y_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, ymin_checksum)->by_default(NAN)->as_number(); | |
287 | soft_endstop_min[Z_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, zmin_checksum)->by_default(NAN)->as_number(); | |
288 | soft_endstop_max[X_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, xmax_checksum)->by_default(NAN)->as_number(); | |
289 | soft_endstop_max[Y_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, ymax_checksum)->by_default(NAN)->as_number(); | |
290 | soft_endstop_max[Z_AXIS]= THEKERNEL->config->value(soft_endstop_checksum, zmax_checksum)->by_default(NAN)->as_number(); | |
4cff3ded AW |
291 | } |
292 | ||
29e809e0 JM |
293 | uint8_t Robot::register_motor(StepperMotor *motor) |
294 | { | |
295 | // register this motor with the step ticker | |
296 | THEKERNEL->step_ticker->register_motor(motor); | |
297 | if(n_motors >= k_max_actuators) { | |
298 | // this is a fatal error | |
299 | THEKERNEL->streams->printf("FATAL: too many motors, increase k_max_actuators\n"); | |
300 | __debugbreak(); | |
301 | } | |
2cd32d70 | 302 | actuators.push_back(motor); |
8e30d648 | 303 | motor->set_motor_id(n_motors); |
2cd32d70 | 304 | return n_motors++; |
29e809e0 JM |
305 | } |
306 | ||
212caccd JM |
307 | void Robot::push_state() |
308 | { | |
03b01bac | 309 | bool am = this->absolute_mode; |
29e809e0 | 310 | bool em = this->e_absolute_mode; |
03b01bac | 311 | bool im = this->inch_mode; |
29e809e0 | 312 | saved_state_t s(this->feed_rate, this->seek_rate, am, em, im, current_wcs); |
212caccd JM |
313 | state_stack.push(s); |
314 | } | |
315 | ||
316 | void Robot::pop_state() | |
317 | { | |
03b01bac JM |
318 | if(!state_stack.empty()) { |
319 | auto s = state_stack.top(); | |
212caccd | 320 | state_stack.pop(); |
03b01bac JM |
321 | this->feed_rate = std::get<0>(s); |
322 | this->seek_rate = std::get<1>(s); | |
323 | this->absolute_mode = std::get<2>(s); | |
29e809e0 JM |
324 | this->e_absolute_mode = std::get<3>(s); |
325 | this->inch_mode = std::get<4>(s); | |
326 | this->current_wcs = std::get<5>(s); | |
212caccd JM |
327 | } |
328 | } | |
329 | ||
34210908 JM |
330 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
331 | { | |
332 | std::vector<wcs_t> v; | |
0b8b81b6 | 333 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
334 | for(auto& i : wcs_offsets) { |
335 | v.push_back(i); | |
336 | } | |
337 | v.push_back(g92_offset); | |
338 | v.push_back(tool_offset); | |
339 | return v; | |
340 | } | |
341 | ||
fdfa00d2 JM |
342 | void Robot::get_current_machine_position(float *pos) const |
343 | { | |
344 | // get real time current actuator position in mm | |
345 | ActuatorCoordinates current_position{ | |
346 | actuators[X_AXIS]->get_current_position(), | |
347 | actuators[Y_AXIS]->get_current_position(), | |
348 | actuators[Z_AXIS]->get_current_position() | |
349 | }; | |
350 | ||
351 | // get machine position from the actuator position using FK | |
352 | arm_solution->actuator_to_cartesian(current_position, pos); | |
353 | } | |
354 | ||
12ce413f | 355 | void Robot::print_position(uint8_t subcode, std::string& res, bool ignore_extruders) const |
2791c829 JM |
356 | { |
357 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
358 | // it returns the realtime position based on the current step position of the actuators. | |
359 | // this does require a FK to get a machine position from the actuator position | |
360 | // and then invert all the transforms to get a workspace position from machine position | |
45ca77ec | 361 | // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position |
5fe7262c | 362 | uint32_t n = 0; |
cb6bfefa | 363 | char buf[64]; |
e03f2747 | 364 | if(subcode == 0) { // M114 print WCS |
45ca77ec | 365 | wcs_t pos= mcs2wcs(machine_position); |
cb6bfefa | 366 | 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 | 367 | |
81c3ecbf JM |
368 | } else if(subcode == 4) { |
369 | // M114.4 print last milestone | |
cb6bfefa | 370 | 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 | 371 | |
81c3ecbf JM |
372 | } else if(subcode == 5) { |
373 | // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) | |
374 | // will differ from LMS by the compensation at the current position otherwise | |
cb6bfefa | 375 | 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 |
376 | |
377 | } else { | |
378 | // get real time positions | |
2791c829 | 379 | float mpos[3]; |
fdfa00d2 JM |
380 | get_current_machine_position(mpos); |
381 | ||
8fe38353 JM |
382 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
383 | if(compensationTransform) compensationTransform(mpos, true); // get inverse compensation transform | |
2791c829 | 384 | |
e03f2747 | 385 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 | 386 | wcs_t pos= mcs2wcs(mpos); |
cb6bfefa | 387 | 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 | 388 | |
df4574e0 | 389 | } else if(subcode == 2) { // M114.2 print realtime Machine coordinate system |
cb6bfefa | 390 | 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 | 391 | |
df4574e0 | 392 | } else if(subcode == 3) { // M114.3 print realtime actuator position |
fdfa00d2 JM |
393 | // get real time current actuator position in mm |
394 | ActuatorCoordinates current_position{ | |
395 | actuators[X_AXIS]->get_current_position(), | |
396 | actuators[Y_AXIS]->get_current_position(), | |
397 | actuators[Z_AXIS]->get_current_position() | |
398 | }; | |
cb6bfefa | 399 | 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 |
400 | } |
401 | } | |
96ef0809 | 402 | |
5fe7262c | 403 | if(n > sizeof(buf)) n= sizeof(buf); |
cb6bfefa JM |
404 | res.append(buf, n); |
405 | ||
96ef0809 JM |
406 | #if MAX_ROBOT_ACTUATORS > 3 |
407 | // deal with the ABC axis | |
408 | for (int i = A_AXIS; i < n_motors; ++i) { | |
cb6bfefa | 409 | n= 0; |
12ce413f | 410 | if(ignore_extruders && actuators[i]->is_extruder()) continue; // don't show an extruder as that will be E |
96ef0809 | 411 | if(subcode == 4) { // M114.4 print last milestone |
cb6bfefa | 412 | n= snprintf(buf, sizeof(buf), " %c:%1.4f", 'A'+i-A_AXIS, machine_position[i]); |
96ef0809 | 413 | |
866eaaba | 414 | }else if(subcode == 2 || subcode == 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC |
96ef0809 | 415 | // current actuator position |
cb6bfefa | 416 | n= snprintf(buf, sizeof(buf), " %c:%1.4f", 'A'+i-A_AXIS, actuators[i]->get_current_position()); |
96ef0809 | 417 | } |
5fe7262c | 418 | if(n > sizeof(buf)) n= sizeof(buf); |
cb6bfefa | 419 | if(n > 0) res.append(buf, n); |
96ef0809 JM |
420 | } |
421 | #endif | |
2791c829 JM |
422 | } |
423 | ||
dc27139b | 424 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 425 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
426 | { |
427 | return std::make_tuple( | |
31c6c2c2 JM |
428 | 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), |
429 | 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), | |
430 | 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 |
431 | ); |
432 | } | |
433 | ||
dd0a7cfa JM |
434 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
435 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
436 | void Robot::check_max_actuator_speeds() | |
437 | { | |
29e809e0 | 438 | for (size_t i = 0; i < n_motors; i++) { |
6a5a91e0 JM |
439 | if(actuators[i]->is_extruder()) continue; //extruders are not included in this check |
440 | ||
807b9b57 JM |
441 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
442 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
443 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
ad6a77d1 | 444 | 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 | 445 | } |
dd0a7cfa JM |
446 | } |
447 | } | |
448 | ||
4cff3ded | 449 | //A GCode has been received |
edac9072 | 450 | //See if the current Gcode line has some orders for us |
4710532a JM |
451 | void Robot::on_gcode_received(void *argument) |
452 | { | |
453 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 454 | |
29e809e0 | 455 | enum MOTION_MODE_T motion_mode= NONE; |
4cff3ded | 456 | |
4710532a JM |
457 | if( gcode->has_g) { |
458 | switch( gcode->g ) { | |
29e809e0 JM |
459 | case 0: motion_mode = SEEK; break; |
460 | case 1: motion_mode = LINEAR; break; | |
461 | case 2: motion_mode = CW_ARC; break; | |
462 | case 3: motion_mode = CCW_ARC; break; | |
df0783b7 | 463 | case 4: { // G4 Dwell |
03b01bac | 464 | uint32_t delay_ms = 0; |
c3df978d | 465 | if (gcode->has_letter('P')) { |
df0783b7 JM |
466 | if(THEKERNEL->is_grbl_mode()) { |
467 | // in grbl mode (and linuxcnc) P is decimal seconds | |
468 | float f= gcode->get_value('P'); | |
469 | delay_ms= f * 1000.0F; | |
470 | ||
471 | }else{ | |
472 | // in reprap P is milliseconds, they always have to be different! | |
473 | delay_ms = gcode->get_int('P'); | |
474 | } | |
c3df978d JM |
475 | } |
476 | if (gcode->has_letter('S')) { | |
477 | delay_ms += gcode->get_int('S') * 1000; | |
478 | } | |
03b01bac | 479 | if (delay_ms > 0) { |
c3df978d | 480 | // drain queue |
04782655 | 481 | THEKERNEL->conveyor->wait_for_idle(); |
c3df978d | 482 | // wait for specified time |
03b01bac JM |
483 | uint32_t start = us_ticker_read(); // mbed call |
484 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 485 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 486 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
487 | } |
488 | } | |
adba2978 | 489 | } |
6b661ab3 | 490 | break; |
807b9b57 | 491 | |
a6bbe768 | 492 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 493 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
494 | size_t n = gcode->get_uint('P'); |
495 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 496 | else --n; |
0b8b81b6 | 497 | if(n < MAX_WCS) { |
807b9b57 | 498 | float x, y, z; |
03b01bac | 499 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 500 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 501 | // this makes the current machine position (less compensation transform) the offset |
dc27139b | 502 | // get current position in WCS |
45ca77ec | 503 | wcs_t pos= mcs2wcs(machine_position); |
dc27139b JM |
504 | |
505 | if(gcode->has_letter('X')){ | |
506 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
507 | } | |
508 | ||
509 | if(gcode->has_letter('Y')){ | |
510 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
511 | } | |
512 | if(gcode->has_letter('Z')) { | |
513 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
514 | } | |
515 | ||
a6bbe768 | 516 | } else { |
bb4e919a JM |
517 | if(absolute_mode) { |
518 | // the value is the offset from machine zero | |
519 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
520 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
521 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
522 | }else{ | |
523 | if(gcode->has_letter('X')) x += to_millimeters(gcode->get_value('X')); | |
524 | if(gcode->has_letter('Y')) y += to_millimeters(gcode->get_value('Y')); | |
525 | if(gcode->has_letter('Z')) z += to_millimeters(gcode->get_value('Z')); | |
526 | } | |
00e607c7 | 527 | } |
03b01bac | 528 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
529 | } |
530 | } | |
531 | break; | |
532 | ||
6e92ab91 JM |
533 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
534 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
535 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
536 | case 20: this->inch_mode = true; break; | |
537 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
538 | |
539 | case 54: case 55: case 56: case 57: case 58: case 59: | |
540 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 541 | current_wcs = gcode->g - 54; |
807b9b57 JM |
542 | if(gcode->g == 59 && gcode->subcode > 0) { |
543 | current_wcs += gcode->subcode; | |
0b8b81b6 | 544 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
545 | } |
546 | break; | |
547 | ||
29e809e0 JM |
548 | case 90: this->absolute_mode = true; this->e_absolute_mode = true; break; |
549 | case 91: this->absolute_mode = false; this->e_absolute_mode = false; break; | |
807b9b57 | 550 | |
0b804a41 | 551 | case 92: { |
a9e8c04b | 552 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
553 | // reset G92 offsets to 0 |
554 | g92_offset = wcs_t(0, 0, 0); | |
555 | ||
cee8bc1d JM |
556 | } else if(gcode->subcode == 3) { |
557 | // initialize G92 to the specified values, only used for saving it with M500 | |
558 | float x= 0, y= 0, z= 0; | |
559 | if(gcode->has_letter('X')) x= gcode->get_value('X'); | |
560 | if(gcode->has_letter('Y')) y= gcode->get_value('Y'); | |
561 | if(gcode->has_letter('Z')) z= gcode->get_value('Z'); | |
562 | g92_offset = wcs_t(x, y, z); | |
563 | ||
4710532a | 564 | } else { |
61a3fa99 | 565 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 566 | float x, y, z; |
03b01bac | 567 | std::tie(x, y, z) = g92_offset; |
61a3fa99 | 568 | // get current position in WCS |
45ca77ec | 569 | wcs_t pos= mcs2wcs(machine_position); |
61a3fa99 JM |
570 | |
571 | // adjust g92 offset to make the current wpos == the value requested | |
572 | if(gcode->has_letter('X')){ | |
573 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
574 | } | |
dc27139b JM |
575 | if(gcode->has_letter('Y')){ |
576 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
577 | } | |
578 | if(gcode->has_letter('Z')) { | |
579 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
580 | } | |
03b01bac | 581 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 582 | } |
a6bbe768 | 583 | |
13ad7234 JM |
584 | #if MAX_ROBOT_ACTUATORS > 3 |
585 | if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){ | |
586 | // reset the E position, legacy for 3d Printers to be reprap compatible | |
587 | // find the selected extruder | |
325ed08b JM |
588 | int selected_extruder= get_active_extruder(); |
589 | if(selected_extruder > 0) { | |
590 | float e= gcode->has_letter('E') ? gcode->get_value('E') : 0; | |
591 | machine_position[selected_extruder]= compensated_machine_position[selected_extruder]= e; | |
592 | actuators[selected_extruder]->change_last_milestone(get_e_scale_fnc ? e*get_e_scale_fnc() : e); | |
13ad7234 JM |
593 | } |
594 | } | |
276e7c00 JM |
595 | if(gcode->subcode == 0 && gcode->get_num_args() > 0) { |
596 | for (int i = A_AXIS; i < n_motors; i++) { | |
597 | // ABC just need to set machine_position and compensated_machine_position if specified | |
598 | char axis= 'A'+i-3; | |
599 | if(!actuators[i]->is_extruder() && gcode->has_letter(axis)) { | |
600 | float ap= gcode->get_value(axis); | |
601 | machine_position[i]= compensated_machine_position[i]= ap; | |
602 | actuators[i]->change_last_milestone(ap); // this updates the last_milestone in the actuator | |
603 | } | |
604 | } | |
605 | } | |
13ad7234 JM |
606 | #endif |
607 | ||
78d0e16a | 608 | return; |
4710532a JM |
609 | } |
610 | } | |
67a649dd | 611 | |
4710532a JM |
612 | } else if( gcode->has_m) { |
613 | switch( gcode->m ) { | |
20ed51b7 JM |
614 | // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold) |
615 | // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0); | |
616 | // break; | |
01a8d21a JM |
617 | |
618 | case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file) | |
619 | if(!THEKERNEL->is_grbl_mode()) break; | |
620 | // fall through to M2 | |
807b9b57 | 621 | case 2: // M2 end of program |
03b01bac JM |
622 | current_wcs = 0; |
623 | absolute_mode = true; | |
807b9b57 | 624 | break; |
9e6014a6 JM |
625 | case 17: |
626 | THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on | |
627 | break; | |
628 | ||
d01fbc6f JM |
629 | case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off |
630 | if(gcode->get_num_args() > 0) { | |
631 | // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C | |
632 | uint32_t bm= 0; | |
633 | for (int i = 0; i < n_motors; ++i) { | |
634 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-3)); | |
635 | if(gcode->has_letter(axis)) bm |= (0x02<<i); // set appropriate bit | |
636 | } | |
559c0e6a JM |
637 | // handle E parameter as currently selected extruder ABC |
638 | if(gcode->has_letter('E')) { | |
325ed08b JM |
639 | // find first selected extruder |
640 | int i= get_active_extruder(); | |
641 | if(i > 0) { | |
642 | bm |= (0x02<<i); // set appropriate bit | |
559c0e6a JM |
643 | } |
644 | } | |
645 | ||
d01fbc6f JM |
646 | THEKERNEL->conveyor->wait_for_idle(); |
647 | THEKERNEL->call_event(ON_ENABLE, (void *)bm); | |
648 | break; | |
649 | } | |
650 | // fall through | |
9e6014a6 | 651 | case 84: |
04782655 | 652 | THEKERNEL->conveyor->wait_for_idle(); |
9e6014a6 JM |
653 | THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off |
654 | break; | |
807b9b57 | 655 | |
29e809e0 JM |
656 | case 82: e_absolute_mode= true; break; |
657 | case 83: e_absolute_mode= false; break; | |
658 | ||
0fb5b438 | 659 | case 92: // M92 - set steps per mm |
5acc50ad | 660 | for (int i = 0; i < n_motors; ++i) { |
13721c6c | 661 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
662 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); |
663 | if(gcode->has_letter(axis)) { | |
664 | actuators[i]->change_steps_per_mm(this->to_millimeters(gcode->get_value(axis))); | |
665 | } | |
666 | gcode->stream->printf("%c:%f ", axis, actuators[i]->get_steps_per_mm()); | |
667 | } | |
0fb5b438 | 668 | gcode->add_nl = true; |
dd0a7cfa | 669 | check_max_actuator_speeds(); |
0fb5b438 | 670 | return; |
562db364 | 671 | |
e03f2747 | 672 | case 114:{ |
cb6bfefa | 673 | std::string buf; |
12ce413f | 674 | print_position(gcode->subcode, buf, true); // ignore extruders as they will print E themselves |
cb6bfefa | 675 | gcode->txt_after_ok.append(buf); |
2791c829 | 676 | return; |
e03f2747 | 677 | } |
33e4cc02 | 678 | |
212caccd JM |
679 | case 120: // push state |
680 | push_state(); | |
681 | break; | |
562db364 JM |
682 | |
683 | case 121: // pop state | |
212caccd | 684 | pop_state(); |
562db364 JM |
685 | break; |
686 | ||
125b71ce JM |
687 | case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates |
688 | if(gcode->get_num_args() == 0) { | |
689 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
55783268 | 690 | gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate()); |
125b71ce | 691 | } |
5acc50ad JM |
692 | if(gcode->subcode == 1) { |
693 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
13721c6c | 694 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
695 | gcode->stream->printf(" %c: %g ", 'A' + i - A_AXIS, actuators[i]->get_max_rate()); |
696 | } | |
d5262155 JM |
697 | }else{ |
698 | gcode->stream->printf(" S: %g ", this->max_speed); | |
5acc50ad JM |
699 | } |
700 | ||
125b71ce | 701 | gcode->add_nl = true; |
dd0a7cfa | 702 | |
125b71ce JM |
703 | }else{ |
704 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
705 | if (gcode->has_letter('X' + i)) { | |
55783268 JM |
706 | float v= gcode->get_value('X'+i); |
707 | if(gcode->subcode == 0) this->max_speeds[i]= v; | |
708 | else if(gcode->subcode == 1) actuators[i]->set_max_rate(v); | |
125b71ce JM |
709 | } |
710 | } | |
3e1ea0e2 | 711 | |
5acc50ad JM |
712 | if(gcode->subcode == 1) { |
713 | // ABC axis only handle actuator max speeds | |
714 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
715 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
716 | int c= 'A' + i - A_AXIS; | |
717 | if(gcode->has_letter(c)) { | |
718 | float v= gcode->get_value(c); | |
719 | actuators[i]->set_max_rate(v); | |
720 | } | |
721 | } | |
d5262155 JM |
722 | |
723 | }else{ | |
724 | if(gcode->has_letter('S')) max_speed= gcode->get_value('S'); | |
5acc50ad JM |
725 | } |
726 | ||
727 | ||
3e1ea0e2 JM |
728 | // this format is deprecated |
729 | if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) { | |
730 | gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n"); | |
be7f67cd | 731 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
3e1ea0e2 JM |
732 | if (gcode->has_letter('A' + i)) { |
733 | float v= gcode->get_value('A'+i); | |
734 | actuators[i]->set_max_rate(v); | |
735 | } | |
736 | } | |
737 | } | |
738 | ||
55783268 | 739 | if(gcode->subcode == 1) check_max_actuator_speeds(); |
807b9b57 | 740 | } |
125b71ce | 741 | break; |
83488642 | 742 | |
29e809e0 | 743 | case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration |
4710532a | 744 | if (gcode->has_letter('S')) { |
4710532a | 745 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 746 | // enforce minimum |
29e809e0 JM |
747 | if (acc < 1.0F) acc = 1.0F; |
748 | this->default_acceleration = acc; | |
d4ee6ee2 | 749 | } |
5acc50ad JM |
750 | for (int i = 0; i < n_motors; ++i) { |
751 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
752 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
753 | if(gcode->has_letter(axis)) { | |
754 | float acc = gcode->get_value(axis); // mm/s^2 | |
29e809e0 JM |
755 | // enforce positive |
756 | if (acc <= 0.0F) acc = NAN; | |
757 | actuators[i]->set_acceleration(acc); | |
758 | } | |
c5fe1787 | 759 | } |
d4ee6ee2 JM |
760 | break; |
761 | ||
125b71ce | 762 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed |
4710532a JM |
763 | if (gcode->has_letter('X')) { |
764 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 765 | // enforce minimum |
8b69c90d JM |
766 | if (jd < 0.0F) |
767 | jd = 0.0F; | |
4710532a | 768 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 769 | } |
107df03f JM |
770 | if (gcode->has_letter('Z')) { |
771 | float jd = gcode->get_value('Z'); | |
772 | // enforce minimum, -1 disables it and uses regular junction deviation | |
73a0eab6 JM |
773 | if (jd <= -1.0F) |
774 | jd = NAN; | |
107df03f JM |
775 | THEKERNEL->planner->z_junction_deviation = jd; |
776 | } | |
4710532a JM |
777 | if (gcode->has_letter('S')) { |
778 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
779 | // enforce minimum |
780 | if (mps < 0.0F) | |
781 | mps = 0.0F; | |
4710532a | 782 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 783 | } |
d4ee6ee2 | 784 | break; |
98761c28 | 785 | |
7e9e31b0 | 786 | case 211: // M211 Sn turns soft endstops on/off |
bb81b569 JM |
787 | if(gcode->has_letter('S')) { |
788 | soft_endstop_enabled= gcode->get_uint('S') == 1; | |
789 | }else{ | |
790 | gcode->stream->printf("Soft endstops are %s", soft_endstop_enabled ? "Enabled" : "Disabled"); | |
791 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { | |
845e6efb JM |
792 | if(isnan(soft_endstop_min[i])) { |
793 | gcode->stream->printf(",%c min is disabled", 'X'+i); | |
794 | } | |
795 | if(isnan(soft_endstop_max[i])) { | |
796 | gcode->stream->printf(",%c max is disabled", 'X'+i); | |
797 | } | |
bb81b569 | 798 | if(!is_homed(i)) { |
845e6efb | 799 | gcode->stream->printf(",%c axis is not homed", 'X'+i); |
bb81b569 | 800 | } |
845e6efb | 801 | } |
bb81b569 JM |
802 | gcode->stream->printf("\n"); |
803 | } | |
7e9e31b0 JM |
804 | break; |
805 | ||
7369629d | 806 | case 220: // M220 - speed override percentage |
4710532a | 807 | if (gcode->has_letter('S')) { |
1ad23cd3 | 808 | float factor = gcode->get_value('S'); |
98761c28 | 809 | // enforce minimum 10% speed |
da947c62 MM |
810 | if (factor < 10.0F) |
811 | factor = 10.0F; | |
812 | // enforce maximum 10x speed | |
813 | if (factor > 1000.0F) | |
814 | factor = 1000.0F; | |
815 | ||
816 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 817 | } else { |
9ef9f45b | 818 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 819 | } |
b4f56013 | 820 | break; |
ec4773e5 | 821 | |
494dc541 | 822 | case 400: // wait until all moves are done up to this point |
04782655 | 823 | THEKERNEL->conveyor->wait_for_idle(); |
494dc541 JM |
824 | break; |
825 | ||
33e4cc02 | 826 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 827 | case 503: { // M503 just prints the settings |
5acc50ad JM |
828 | gcode->stream->printf(";Steps per unit:\nM92 "); |
829 | for (int i = 0; i < n_motors; ++i) { | |
830 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
831 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
832 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_steps_per_mm()); | |
833 | } | |
834 | gcode->stream->printf("\n"); | |
df56baf2 | 835 | |
5acc50ad | 836 | // only print if not NAN |
df56baf2 | 837 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration); |
5acc50ad JM |
838 | for (int i = 0; i < n_motors; ++i) { |
839 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
840 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
841 | if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_acceleration()); | |
df56baf2 JM |
842 | } |
843 | gcode->stream->printf("\n"); | |
844 | ||
43fa8fd2 | 845 | 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 | 846 | |
d5262155 | 847 | gcode->stream->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f S%1.5f\n", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], this->max_speed); |
5acc50ad JM |
848 | |
849 | gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 "); | |
850 | for (int i = 0; i < n_motors; ++i) { | |
851 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
852 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
853 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_max_rate()); | |
854 | } | |
855 | gcode->stream->printf("\n"); | |
b7cd847e JM |
856 | |
857 | // get or save any arm solution specific optional values | |
858 | BaseSolution::arm_options_t options; | |
859 | if(arm_solution->get_optional(options) && !options.empty()) { | |
860 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 861 | for(auto &i : options) { |
b7cd847e JM |
862 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
863 | } | |
864 | gcode->stream->printf("\n"); | |
865 | } | |
6e92ab91 | 866 | |
807b9b57 JM |
867 | // save wcs_offsets and current_wcs |
868 | // TODO this may need to be done whenever they change to be compliant | |
a01b9d3e JM |
869 | if(save_g54) { |
870 | gcode->stream->printf(";WCS settings\n"); | |
871 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); | |
872 | int n = 1; | |
873 | for(auto &i : wcs_offsets) { | |
874 | if(i != wcs_t(0, 0, 0)) { | |
875 | float x, y, z; | |
876 | std::tie(x, y, z) = i; | |
877 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n, x, y, z, wcs2gcode(n-1).c_str()); | |
878 | } | |
879 | ++n; | |
2791c829 | 880 | } |
807b9b57 | 881 | } |
3aad33c7 JM |
882 | if(save_g92) { |
883 | // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility | |
884 | // 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 | |
885 | if(g92_offset != wcs_t(0, 0, 0)) { | |
886 | float x, y, z; | |
887 | std::tie(x, y, z) = g92_offset; | |
888 | gcode->stream->printf("G92.3 X%f Y%f Z%f\n", x, y, z); // sets G92 to the specified values | |
889 | } | |
67a649dd JM |
890 | } |
891 | } | |
807b9b57 | 892 | break; |
33e4cc02 | 893 | |
b7cd847e | 894 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 895 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 896 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
897 | options.erase('S'); // don't include the S |
898 | options.erase('U'); // don't include the U | |
899 | if(options.size() > 0) { | |
900 | // set the specified options | |
901 | arm_solution->set_optional(options); | |
902 | } | |
903 | options.clear(); | |
b7cd847e | 904 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 905 | // foreach optional value |
4710532a | 906 | for(auto &i : options) { |
b7cd847e JM |
907 | // print all current values of supported options |
908 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 909 | gcode->add_nl = true; |
ec4773e5 JM |
910 | } |
911 | } | |
ec4773e5 | 912 | |
4a839bea | 913 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 914 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
915 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
916 | ||
03b01bac | 917 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
918 | this->mm_per_line_segment = gcode->get_value('U'); |
919 | this->delta_segments_per_second = 0; | |
920 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 921 | } |
4a839bea | 922 | |
ec4773e5 | 923 | break; |
b7cd847e | 924 | } |
6989211c | 925 | } |
494dc541 JM |
926 | } |
927 | ||
29e809e0 | 928 | if( motion_mode != NONE) { |
e560f057 | 929 | is_g123= motion_mode != SEEK; |
29e809e0 | 930 | process_move(gcode, motion_mode); |
e560f057 JM |
931 | |
932 | }else{ | |
933 | is_g123= false; | |
00e607c7 | 934 | } |
6bc4a00a | 935 | |
c2f7c261 JM |
936 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
937 | } | |
350c8a60 | 938 | |
325ed08b JM |
939 | int Robot::get_active_extruder() const |
940 | { | |
941 | for (int i = E_AXIS; i < n_motors; ++i) { | |
942 | // find first selected extruder | |
aef2eec0 | 943 | if(actuators[i]->is_extruder() && actuators[i]->is_selected()) return i; |
325ed08b JM |
944 | } |
945 | return 0; | |
946 | } | |
947 | ||
5d2319a9 | 948 | // process a G0/G1/G2/G3 |
29e809e0 | 949 | void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode) |
c2f7c261 | 950 | { |
2791c829 | 951 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
ad6a77d1 | 952 | // get XYZ and one E (which goes to the selected extruder) |
29e809e0 JM |
953 | float param[4]{NAN, NAN, NAN, NAN}; |
954 | ||
955 | // process primary axis | |
350c8a60 JM |
956 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
957 | char letter= 'X'+i; | |
958 | if( gcode->has_letter(letter) ) { | |
959 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
960 | } |
961 | } | |
6bc4a00a | 962 | |
c2f7c261 | 963 | float offset[3]{0,0,0}; |
4710532a JM |
964 | for(char letter = 'I'; letter <= 'K'; letter++) { |
965 | if( gcode->has_letter(letter) ) { | |
966 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
967 | } |
968 | } | |
00e607c7 | 969 | |
c2f7c261 | 970 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
29e809e0 | 971 | float target[n_motors]; |
45ca77ec | 972 | memcpy(target, machine_position, n_motors*sizeof(float)); |
29e809e0 | 973 | |
350c8a60 JM |
974 | if(!next_command_is_MCS) { |
975 | if(this->absolute_mode) { | |
c2f7c261 JM |
976 | // apply wcs offsets and g92 offset and tool offset |
977 | if(!isnan(param[X_AXIS])) { | |
978 | 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); | |
979 | } | |
980 | ||
981 | if(!isnan(param[Y_AXIS])) { | |
982 | 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); | |
983 | } | |
984 | ||
985 | if(!isnan(param[Z_AXIS])) { | |
986 | 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); | |
987 | } | |
350c8a60 JM |
988 | |
989 | }else{ | |
45ca77ec | 990 | // they are deltas from the machine_position if specified |
350c8a60 | 991 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
45ca77ec | 992 | if(!isnan(param[i])) target[i] = param[i] + machine_position[i]; |
a6bbe768 JM |
993 | } |
994 | } | |
995 | ||
350c8a60 | 996 | }else{ |
48a0fdb6 | 997 | // already in machine coordinates, we do not add wcs or tool offset for that |
c2f7c261 JM |
998 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
999 | if(!isnan(param[i])) target[i] = param[i]; | |
1000 | } | |
c2885de8 | 1001 | } |
6bc4a00a | 1002 | |
37b7b898 JM |
1003 | float delta_e= NAN; |
1004 | ||
1005 | #if MAX_ROBOT_ACTUATORS > 3 | |
29e809e0 | 1006 | // process extruder parameters, for active extruder only (only one active extruder at a time) |
325ed08b | 1007 | int selected_extruder= 0; |
29e809e0 | 1008 | if(gcode->has_letter('E')) { |
325ed08b JM |
1009 | selected_extruder= get_active_extruder(); |
1010 | param[E_AXIS]= gcode->get_value('E'); | |
29e809e0 JM |
1011 | } |
1012 | ||
1013 | // do E for the selected extruder | |
29e809e0 JM |
1014 | if(selected_extruder > 0 && !isnan(param[E_AXIS])) { |
1015 | if(this->e_absolute_mode) { | |
1016 | target[selected_extruder]= param[E_AXIS]; | |
45ca77ec | 1017 | delta_e= target[selected_extruder] - machine_position[selected_extruder]; |
29e809e0 JM |
1018 | }else{ |
1019 | delta_e= param[E_AXIS]; | |
45ca77ec | 1020 | target[selected_extruder] = delta_e + machine_position[selected_extruder]; |
29e809e0 JM |
1021 | } |
1022 | } | |
1023 | ||
37b7b898 JM |
1024 | // 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 |
1025 | for (int i = A_AXIS; i < n_motors; ++i) { | |
1026 | char letter= 'A'+i-A_AXIS; | |
1027 | if(gcode->has_letter(letter)) { | |
1028 | float p= gcode->get_value(letter); | |
1029 | if(this->absolute_mode) { | |
1030 | target[i]= p; | |
1031 | }else{ | |
5acc50ad | 1032 | target[i]= p + machine_position[i]; |
37b7b898 JM |
1033 | } |
1034 | } | |
1035 | } | |
1036 | #endif | |
1037 | ||
4710532a | 1038 | if( gcode->has_letter('F') ) { |
29e809e0 | 1039 | if( motion_mode == SEEK ) |
da947c62 | 1040 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 1041 | else |
da947c62 | 1042 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 1043 | } |
6bc4a00a | 1044 | |
73cc27d2 | 1045 | // S is modal When specified on a G0/1/2/3 command |
e560f057 JM |
1046 | if(gcode->has_letter('S')) s_value= gcode->get_value('S'); |
1047 | ||
350c8a60 | 1048 | bool moved= false; |
29e809e0 JM |
1049 | |
1050 | // Perform any physical actions | |
1051 | switch(motion_mode) { | |
1052 | case NONE: break; | |
1053 | ||
1054 | case SEEK: | |
1055 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 1056 | break; |
29e809e0 JM |
1057 | |
1058 | case LINEAR: | |
1059 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 1060 | break; |
29e809e0 JM |
1061 | |
1062 | case CW_ARC: | |
1063 | case CCW_ARC: | |
374d0777 | 1064 | // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3) |
29e809e0 | 1065 | moved= this->compute_arc(gcode, offset, target, motion_mode); |
350c8a60 | 1066 | break; |
4cff3ded | 1067 | } |
13e4a3f9 | 1068 | |
f1368fc3 JM |
1069 | // needed to act as start of next arc command |
1070 | memcpy(arc_milestone, target, sizeof(arc_milestone)); | |
1071 | ||
c2f7c261 | 1072 | if(moved) { |
45ca77ec JM |
1073 | // set machine_position to the calculated target |
1074 | memcpy(machine_position, target, n_motors*sizeof(float)); | |
350c8a60 | 1075 | } |
edac9072 AW |
1076 | } |
1077 | ||
a6bbe768 | 1078 | // reset the machine position for all axis. Used for homing. |
fd2341bc | 1079 | // after homing we supply the cartesian coordinates that the head is at when homed, |
bccd3a3e JM |
1080 | // however for Z this is the compensated machine position (if enabled) |
1081 | // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position | |
8fe38353 | 1082 | // this will make the results from M114 and ? consistent after homing. |
bccd3a3e | 1083 | // 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 |
1084 | void Robot::reset_axis_position(float x, float y, float z) |
1085 | { | |
fd2341bc | 1086 | // set both the same initially |
45ca77ec JM |
1087 | compensated_machine_position[X_AXIS]= machine_position[X_AXIS] = x; |
1088 | compensated_machine_position[Y_AXIS]= machine_position[Y_AXIS] = y; | |
1089 | compensated_machine_position[Z_AXIS]= machine_position[Z_AXIS] = z; | |
cef9acea | 1090 | |
8fe38353 | 1091 | if(compensationTransform) { |
45ca77ec JM |
1092 | // apply inverse transform to get machine_position |
1093 | compensationTransform(machine_position, true); | |
8fe38353 JM |
1094 | } |
1095 | ||
fd2341bc | 1096 | // now set the actuator positions based on the supplied compensated position |
807b9b57 | 1097 | ActuatorCoordinates actuator_pos; |
45ca77ec | 1098 | arm_solution->cartesian_to_actuator(this->compensated_machine_position, actuator_pos); |
29e809e0 | 1099 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
cef9acea JM |
1100 | actuators[i]->change_last_milestone(actuator_pos[i]); |
1101 | } | |
1102 | ||
de2ee57c | 1103 | // Reset the position for an axis (used in homing, and to reset extruder after suspend) |
4710532a JM |
1104 | void Robot::reset_axis_position(float position, int axis) |
1105 | { | |
45ca77ec | 1106 | compensated_machine_position[axis] = position; |
de2ee57c | 1107 | if(axis <= Z_AXIS) { |
45ca77ec | 1108 | reset_axis_position(compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
7d9e5765 | 1109 | |
72420864 | 1110 | #if MAX_ROBOT_ACTUATORS > 3 |
96ef0809 | 1111 | }else if(axis < n_motors) { |
7d9e5765 JM |
1112 | // ABC and/or extruders need to be set as there is no arm solution for them |
1113 | machine_position[axis]= compensated_machine_position[axis]= position; | |
1114 | actuators[axis]->change_last_milestone(machine_position[axis]); | |
72420864 | 1115 | #endif |
de2ee57c | 1116 | } |
4cff3ded AW |
1117 | } |
1118 | ||
932a3995 | 1119 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
abf706e6 | 1120 | // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp |
93f20a8c | 1121 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) |
586cc733 | 1122 | { |
fdfa00d2 JM |
1123 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
1124 | if(!isnan(ac[i])) actuators[i]->change_last_milestone(ac[i]); | |
1125 | } | |
586cc733 JM |
1126 | |
1127 | // now correct axis positions then recorrect actuator to account for rounding | |
1128 | reset_position_from_current_actuator_position(); | |
1129 | } | |
1130 | ||
a6bbe768 | 1131 | // Use FK to find out where actuator is and reset to match |
b6187406 | 1132 | // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT |
728477c4 JM |
1133 | void Robot::reset_position_from_current_actuator_position() |
1134 | { | |
807b9b57 | 1135 | ActuatorCoordinates actuator_pos; |
9fc4679b | 1136 | for (size_t i = X_AXIS; i < n_motors; i++) { |
45ca77ec | 1137 | // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort |
807b9b57 JM |
1138 | actuator_pos[i] = actuators[i]->get_current_position(); |
1139 | } | |
58587001 JM |
1140 | |
1141 | // discover machine position from where actuators actually are | |
45ca77ec JM |
1142 | arm_solution->actuator_to_cartesian(actuator_pos, compensated_machine_position); |
1143 | memcpy(machine_position, compensated_machine_position, sizeof machine_position); | |
cf91d4f3 | 1144 | |
45ca77ec JM |
1145 | // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position |
1146 | if(compensationTransform) compensationTransform(machine_position, true); // get inverse compensation transform | |
cf91d4f3 | 1147 | |
45ca77ec | 1148 | // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate. |
58587001 | 1149 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call |
932a3995 | 1150 | // to get everything in perfect sync. |
45ca77ec | 1151 | arm_solution->cartesian_to_actuator(compensated_machine_position, actuator_pos); |
325ed08b | 1152 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
7baae81a | 1153 | actuators[i]->change_last_milestone(actuator_pos[i]); |
325ed08b JM |
1154 | } |
1155 | ||
1156 | // Handle extruders and/or ABC axis | |
1157 | #if MAX_ROBOT_ACTUATORS > 3 | |
9fc4679b | 1158 | for (int i = A_AXIS; i < n_motors; i++) { |
325ed08b JM |
1159 | // ABC and/or extruders just need to set machine_position and compensated_machine_position |
1160 | float ap= actuator_pos[i]; | |
aef2eec0 | 1161 | 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 | 1162 | machine_position[i]= compensated_machine_position[i]= ap; |
5d34cbb3 | 1163 | actuators[i]->change_last_milestone(actuator_pos[i]); // this updates the last_milestone in the actuator |
325ed08b JM |
1164 | } |
1165 | #endif | |
728477c4 | 1166 | } |
edac9072 | 1167 | |
ad6a77d1 | 1168 | // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner |
45ca77ec | 1169 | // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes |
c2f7c261 | 1170 | // all transforms and is what we actually convert to actuator positions |
c1ebb1fe | 1171 | bool Robot::append_milestone(const float target[], float rate_mm_s) |
df6a30f2 | 1172 | { |
29e809e0 | 1173 | float deltas[n_motors]; |
1a936198 | 1174 | float transformed_target[n_motors]; // adjust target for bed compensation |
29e809e0 | 1175 | float unit_vec[N_PRIMARY_AXIS]; |
df6a30f2 | 1176 | |
3632a517 | 1177 | // unity transform by default |
29e809e0 | 1178 | memcpy(transformed_target, target, n_motors*sizeof(float)); |
5e45206a | 1179 | |
350c8a60 | 1180 | // check function pointer and call if set to transform the target to compensate for bed |
c1ebb1fe | 1181 | if(compensationTransform) { |
350c8a60 | 1182 | // some compensation strategies can transform XYZ, some just change Z |
8fe38353 | 1183 | compensationTransform(transformed_target, false); |
00e607c7 | 1184 | } |
807b9b57 | 1185 | |
7e9e31b0 JM |
1186 | // check soft endstops only for homed axis that are enabled |
1187 | if(soft_endstop_enabled) { | |
1188 | for (int i = 0; i <= Z_AXIS; ++i) { | |
1189 | if(!is_homed(i)) continue; | |
1190 | 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]) ) { | |
1191 | if(soft_endstop_halt) { | |
e6c2b5b6 | 1192 | if(THEKERNEL->is_grbl_mode()) { |
1fc40bdc | 1193 | THEKERNEL->streams->printf("error:"); |
e6c2b5b6 JM |
1194 | }else{ |
1195 | THEKERNEL->streams->printf("Error: "); | |
1196 | } | |
1197 | ||
1198 | THEKERNEL->streams->printf("Soft Endstop %c was exceeded - reset or $X or M999 required\n", i+'X'); | |
7e9e31b0 JM |
1199 | THEKERNEL->call_event(ON_HALT, nullptr); |
1200 | return false; | |
1201 | ||
1202 | //} else if(soft_endstop_truncate) { | |
1203 | // TODO VERY hard to do need to go back and change the target, and calculate intercept with the edge | |
94a906ee | 1204 | // 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 |
1205 | |
1206 | } else { | |
1207 | // ignore it | |
e6c2b5b6 | 1208 | if(THEKERNEL->is_grbl_mode()) { |
1fc40bdc | 1209 | THEKERNEL->streams->printf("error:"); |
e6c2b5b6 JM |
1210 | }else{ |
1211 | THEKERNEL->streams->printf("Error: "); | |
1212 | } | |
1213 | THEKERNEL->streams->printf("Soft Endstop %c was exceeded - entire move ignored\n", i+'X'); | |
7e9e31b0 JM |
1214 | return false; |
1215 | } | |
1216 | } | |
1217 | } | |
1218 | } | |
1219 | ||
1220 | ||
29e809e0 | 1221 | bool move= false; |
b5bd71f8 | 1222 | float sos= 0; // sum of squares for just primary axis (XYZ usually) |
29e809e0 | 1223 | |
b84bd559 | 1224 | // find distance moved by each axis, use transformed target from the current compensated machine position |
ec45206d | 1225 | for (size_t i = 0; i < n_motors; i++) { |
45ca77ec | 1226 | deltas[i] = transformed_target[i] - compensated_machine_position[i]; |
29e809e0 JM |
1227 | if(deltas[i] == 0) continue; |
1228 | // at least one non zero delta | |
1229 | move = true; | |
b5bd71f8 | 1230 | if(i < N_PRIMARY_AXIS) { |
29e809e0 | 1231 | sos += powf(deltas[i], 2); |
121094a5 | 1232 | } |
3632a517 | 1233 | } |
aab6cbba | 1234 | |
29e809e0 JM |
1235 | // nothing moved |
1236 | if(!move) return false; | |
1237 | ||
850b4eeb | 1238 | // see if this is a primary axis move or not |
b5bd71f8 JM |
1239 | bool auxilliary_move= true; |
1240 | for (int i = 0; i < N_PRIMARY_AXIS; ++i) { | |
1241 | if(deltas[i] != 0) { | |
1242 | auxilliary_move= false; | |
1243 | break; | |
1244 | } | |
1245 | } | |
29e809e0 | 1246 | |
850b4eeb JM |
1247 | // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm |
1248 | float distance= auxilliary_move ? 0 : sqrtf(sos); | |
df6a30f2 | 1249 | |
a6bbe768 JM |
1250 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
1251 | // 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 | 1252 | if(!auxilliary_move && distance < 0.00001F) return false; |
a6bbe768 | 1253 | |
29e809e0 | 1254 | if(!auxilliary_move) { |
b5bd71f8 | 1255 | for (size_t i = X_AXIS; i < N_PRIMARY_AXIS; i++) { |
14a90ad5 | 1256 | // find distance unit vector for primary axis only |
850b4eeb | 1257 | unit_vec[i] = deltas[i] / distance; |
df6a30f2 | 1258 | |
14a90ad5 | 1259 | // Do not move faster than the configured cartesian limits for XYZ |
bcc06c36 | 1260 | if ( i <= Z_AXIS && max_speeds[i] > 0 ) { |
14a90ad5 JM |
1261 | float axis_speed = fabsf(unit_vec[i] * rate_mm_s); |
1262 | ||
1263 | if (axis_speed > max_speeds[i]) | |
1264 | rate_mm_s *= ( max_speeds[i] / axis_speed ); | |
2cd32d70 | 1265 | } |
7b470506 | 1266 | } |
d5262155 JM |
1267 | |
1268 | if(this->max_speed > 0 && rate_mm_s > this->max_speed) { | |
1269 | rate_mm_s= this->max_speed; | |
1270 | } | |
7b470506 | 1271 | } |
4cff3ded | 1272 | |
c2f7c261 | 1273 | // find actuator position given the machine position, use actual adjusted target |
29e809e0 | 1274 | ActuatorCoordinates actuator_pos; |
84cf4071 JM |
1275 | if(!disable_arm_solution) { |
1276 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); | |
1277 | ||
1278 | }else{ | |
1279 | // basically the same as cartesian, would be used for special homing situations like for scara | |
1280 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
1281 | actuator_pos[i] = transformed_target[i]; | |
1282 | } | |
1283 | } | |
df6a30f2 | 1284 | |
13ad7234 | 1285 | #if MAX_ROBOT_ACTUATORS > 3 |
850b4eeb | 1286 | sos= 0; |
ad6a77d1 | 1287 | // for the extruders just copy the position, and possibly scale it from mm³ to mm |
374d0777 | 1288 | for (size_t i = E_AXIS; i < n_motors; i++) { |
850b4eeb | 1289 | actuator_pos[i]= transformed_target[i]; |
aef2eec0 | 1290 | if(actuators[i]->is_extruder() && get_e_scale_fnc) { |
29e809e0 JM |
1291 | // NOTE this relies on the fact only one extruder is active at a time |
1292 | // scale for volumetric or flow rate | |
1293 | // TODO is this correct? scaling the absolute target? what if the scale changes? | |
ec45206d | 1294 | // for volumetric it basically converts mm³ to mm, but what about flow rate? |
121094a5 | 1295 | actuator_pos[i] *= get_e_scale_fnc(); |
29e809e0 | 1296 | } |
850b4eeb JM |
1297 | if(auxilliary_move) { |
1298 | // for E only moves we need to use the scaled E to calculate the distance | |
a3b16417 | 1299 | sos += powf(actuator_pos[i] - actuators[i]->get_last_milestone(), 2); |
850b4eeb JM |
1300 | } |
1301 | } | |
1302 | if(auxilliary_move) { | |
850b4eeb | 1303 | distance= sqrtf(sos); // distance in mm of the e move |
1843a68f | 1304 | if(distance < 0.00001F) return false; |
29e809e0 JM |
1305 | } |
1306 | #endif | |
1307 | ||
1308 | // use default acceleration to start with | |
1309 | float acceleration = default_acceleration; | |
1310 | ||
850b4eeb | 1311 | float isecs = rate_mm_s / distance; |
29e809e0 | 1312 | |
df6a30f2 | 1313 | // check per-actuator speed limits |
29e809e0 JM |
1314 | for (size_t actuator = 0; actuator < n_motors; actuator++) { |
1315 | float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone()); | |
1316 | if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator | |
1317 | ||
1318 | float actuator_rate= d * isecs; | |
03b01bac | 1319 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 1320 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
850b4eeb | 1321 | isecs = rate_mm_s / distance; |
928467c0 | 1322 | } |
29e809e0 | 1323 | |
df56baf2 | 1324 | // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move |
14a90ad5 | 1325 | // 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 | 1326 | if(auxilliary_move || actuator < N_PRIMARY_AXIS) { |
df56baf2 JM |
1327 | float ma = actuators[actuator]->get_acceleration(); // in mm/sec² |
1328 | if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration | |
850b4eeb | 1329 | float ca = fabsf((d/distance) * acceleration); |
df56baf2 JM |
1330 | if (ca > ma) { |
1331 | acceleration *= ( ma / ca ); | |
1332 | } | |
29e809e0 | 1333 | } |
14a90ad5 | 1334 | } |
928467c0 JM |
1335 | } |
1336 | ||
0de4d6b0 JM |
1337 | // if we are in feed hold wait here until it is released, this means that even segemnted lines will pause |
1338 | while(THEKERNEL->get_feed_hold()) { | |
1339 | THEKERNEL->call_event(ON_IDLE, this); | |
1340 | // if we also got a HALT then break out of this | |
1341 | if(THEKERNEL->is_halted()) return false; | |
1342 | } | |
1343 | ||
edac9072 | 1344 | // Append the block to the planner |
850b4eeb | 1345 | // 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 | 1346 | // NOTE this call will bock until there is room in the block queue, on_idle will continue to be called |
e560f057 | 1347 | if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration, s_value, is_g123)) { |
b84bd559 | 1348 | // this is the new compensated machine position |
45ca77ec | 1349 | memcpy(this->compensated_machine_position, transformed_target, n_motors*sizeof(float)); |
07879e05 | 1350 | return true; |
6f5d947f JM |
1351 | } |
1352 | ||
07879e05 JM |
1353 | // no actual move |
1354 | return false; | |
4cff3ded AW |
1355 | } |
1356 | ||
121094a5 JM |
1357 | // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc. |
1358 | bool Robot::delta_move(const float *delta, float rate_mm_s, uint8_t naxis) | |
c8bac202 JM |
1359 | { |
1360 | if(THEKERNEL->is_halted()) return false; | |
1361 | ||
121094a5 | 1362 | // catch negative or zero feed rates |
c8bac202 JM |
1363 | if(rate_mm_s <= 0.0F) { |
1364 | return false; | |
1365 | } | |
1366 | ||
45ca77ec | 1367 | // get the absolute target position, default is current machine_position |
121094a5 | 1368 | float target[n_motors]; |
45ca77ec | 1369 | memcpy(target, machine_position, n_motors*sizeof(float)); |
c8bac202 | 1370 | |
121094a5 JM |
1371 | // add in the deltas to get new target |
1372 | for (int i= 0; i < naxis; i++) { | |
1373 | target[i] += delta[i]; | |
c8bac202 | 1374 | } |
c8bac202 | 1375 | |
45ca77ec | 1376 | // submit for planning and if moved update machine_position |
c1ebb1fe | 1377 | if(append_milestone(target, rate_mm_s)) { |
45ca77ec | 1378 | memcpy(machine_position, target, n_motors*sizeof(float)); |
121094a5 | 1379 | return true; |
29e809e0 | 1380 | } |
c8bac202 | 1381 | |
121094a5 | 1382 | return false; |
c8bac202 JM |
1383 | } |
1384 | ||
edac9072 | 1385 | // Append a move to the queue ( cutting it into segments if needed ) |
29e809e0 | 1386 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s, float delta_e) |
4710532a | 1387 | { |
121094a5 JM |
1388 | // catch negative or zero feed rates and return the same error as GRBL does |
1389 | if(rate_mm_s <= 0.0F) { | |
1390 | gcode->is_error= true; | |
1391 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1392 | return false; | |
1393 | } | |
29e809e0 JM |
1394 | |
1395 | // Find out the distance for this move in XYZ in MCS | |
45ca77ec | 1396 | 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 | 1397 | |
374d0777 | 1398 | if(millimeters_of_travel < 0.00001F) { |
121094a5 JM |
1399 | // we have no movement in XYZ, probably E only extrude or retract |
1400 | return this->append_milestone(target, rate_mm_s); | |
29e809e0 JM |
1401 | } |
1402 | ||
1403 | /* | |
850d5f12 JM |
1404 | For extruders, we need to do some extra work to limit the volumetric rate if specified... |
1405 | 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 |
1406 | We ask Extruder to do all the work but we need to pass in the relevant data. |
1407 | NOTE we need to do this before we segment the line (for deltas) | |
29e809e0 JM |
1408 | */ |
1409 | if(!isnan(delta_e) && gcode->has_g && gcode->g == 1) { | |
1410 | float data[2]= {delta_e, rate_mm_s / millimeters_of_travel}; | |
d2adef5e | 1411 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
29e809e0 | 1412 | rate_mm_s *= data[1]; // adjust the feedrate |
d2adef5e JM |
1413 | } |
1414 | } | |
1415 | ||
c2f7c261 | 1416 | // 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 |
1417 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
1418 | // 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 | 1419 | uint16_t segments; |
5984acdf | 1420 | |
a3e1326a | 1421 | if(this->disable_segmentation || (!segment_z_moves && !gcode->has_letter('X') && !gcode->has_letter('Y'))) { |
778093ce JM |
1422 | segments= 1; |
1423 | ||
1424 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
1425 | // enabled if set to something > 1, it is set to 0.0 by default |
1426 | // segment based on current speed and requested segments per second | |
1427 | // the faster the travel speed the fewer segments needed | |
1428 | // NOTE rate is mm/sec and we take into account any speed override | |
29e809e0 | 1429 | float seconds = millimeters_of_travel / rate_mm_s; |
9502f9d5 | 1430 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 1431 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 1432 | |
4710532a JM |
1433 | } else { |
1434 | if(this->mm_per_line_segment == 0.0F) { | |
1435 | segments = 1; // don't split it up | |
1436 | } else { | |
29e809e0 | 1437 | segments = ceilf( millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
1438 | } |
1439 | } | |
5984acdf | 1440 | |
350c8a60 | 1441 | bool moved= false; |
4710532a | 1442 | if (segments > 1) { |
2ba859c9 | 1443 | // A vector to keep track of the endpoint of each segment |
29e809e0 JM |
1444 | float segment_delta[n_motors]; |
1445 | float segment_end[n_motors]; | |
45ca77ec | 1446 | memcpy(segment_end, machine_position, n_motors*sizeof(float)); |
2ba859c9 MM |
1447 | |
1448 | // How far do we move each segment? | |
29e809e0 | 1449 | for (int i = 0; i < n_motors; i++) |
45ca77ec | 1450 | segment_delta[i] = (target[i] - machine_position[i]) / segments; |
4cff3ded | 1451 | |
c8e0fb15 MM |
1452 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
1453 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 1454 | for (int i = 1; i < segments; i++) { |
350c8a60 | 1455 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
bb206212 JM |
1456 | for (int j = 0; j < n_motors; j++) |
1457 | segment_end[j] += segment_delta[j]; | |
2ba859c9 MM |
1458 | |
1459 | // Append the end of this segment to the queue | |
0de4d6b0 | 1460 | // this can block waiting for free block queue or if in feed hold |
121094a5 | 1461 | bool b= this->append_milestone(segment_end, rate_mm_s); |
350c8a60 | 1462 | moved= moved || b; |
2ba859c9 | 1463 | } |
4cff3ded | 1464 | } |
5984acdf MM |
1465 | |
1466 | // Append the end of this full move to the queue | |
121094a5 | 1467 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
2134bcf2 | 1468 | |
a6bbe768 | 1469 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 1470 | |
350c8a60 | 1471 | return moved; |
4cff3ded AW |
1472 | } |
1473 | ||
4cff3ded | 1474 | |
edac9072 | 1475 | // Append an arc to the queue ( cutting it into segments as needed ) |
850d5f12 | 1476 | // TODO does not support any E parameters so cannot be used for 3D printing. |
350c8a60 | 1477 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 1478 | { |
121094a5 JM |
1479 | float rate_mm_s= this->feed_rate / seconds_per_minute; |
1480 | // catch negative or zero feed rates and return the same error as GRBL does | |
1481 | if(rate_mm_s <= 0.0F) { | |
1482 | gcode->is_error= true; | |
1483 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1484 | return false; | |
1485 | } | |
aab6cbba | 1486 | |
3b2168fe JM |
1487 | // Scary math. |
1488 | // We need to use arc_milestone here to get accurate arcs as previous machine_position may have been skipped due to small movements | |
a8faf188 JR |
1489 | float center_axis0 = this->arc_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
1490 | float center_axis1 = this->arc_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
1491 | float linear_travel = target[this->plane_axis_2] - this->arc_milestone[this->plane_axis_2]; | |
01b2e151 | 1492 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to start position |
1ad23cd3 | 1493 | float r_axis1 = -offset[this->plane_axis_1]; |
01b2e151 | 1494 | 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 | 1495 | float rt_axis1 = target[this->plane_axis_1] - this->arc_milestone[this->plane_axis_1] - offset[this->plane_axis_1]; |
42d5c1f1 | 1496 | float angular_travel = 0; |
01b2e151 | 1497 | //check for condition where atan2 formula will fail due to everything canceling out exactly |
a8faf188 | 1498 | 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 | 1499 | if (is_clockwise) { // set angular_travel to -2pi for a clockwise full circle |
42d5c1f1 | 1500 | angular_travel = (-2 * PI); |
01b2e151 | 1501 | } else { // set angular_travel to 2pi for a counterclockwise full circle |
42d5c1f1 JR |
1502 | angular_travel = (2 * PI); |
1503 | } | |
5fa0c173 | 1504 | } else { |
42d5c1f1 JR |
1505 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
1506 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
01b2e151 | 1507 | // Only run if not a full circle or angular travel will incorrectly result in 0.0f |
42d5c1f1 | 1508 | angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
42d5c1f1 | 1509 | if (plane_axis_2 == Y_AXIS) { is_clockwise = !is_clockwise; } //Math for XZ plane is reverse of other 2 planes |
01b2e151 | 1510 | if (is_clockwise) { // adjust angular_travel to be in the range of -2pi to 0 for clockwise arcs |
42d5c1f1 | 1511 | if (angular_travel > 0) { angular_travel -= (2 * PI); } |
01b2e151 | 1512 | } else { // adjust angular_travel to be in the range of 0 to 2pi for counterclockwise arcs |
42d5c1f1 JR |
1513 | if (angular_travel < 0) { angular_travel += (2 * PI); } |
1514 | } | |
4710532a | 1515 | } |
aab6cbba | 1516 | |
edac9072 | 1517 | // Find the distance for this gcode |
29e809e0 | 1518 | float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel)); |
436a2cd1 | 1519 | |
edac9072 | 1520 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
64877d0a | 1521 | if( millimeters_of_travel < 0.000001F ) { |
350c8a60 | 1522 | return false; |
4710532a | 1523 | } |
5dcb2ff3 | 1524 | |
83c6e067 RA |
1525 | // limit segments by maximum arc error |
1526 | float arc_segment = this->mm_per_arc_segment; | |
4d0f60a9 | 1527 | if ((this->mm_max_arc_error > 0) && (2 * radius > this->mm_max_arc_error)) { |
83c6e067 RA |
1528 | float min_err_segment = 2 * sqrtf((this->mm_max_arc_error * (2 * radius - this->mm_max_arc_error))); |
1529 | if (this->mm_per_arc_segment < min_err_segment) { | |
1530 | arc_segment = min_err_segment; | |
1531 | } | |
1532 | } | |
64877d0a JM |
1533 | |
1534 | // catch fall through on above | |
1535 | if(arc_segment < 0.0001F) { | |
1536 | arc_segment= 0.5F; /// the old default, so we avoid the divide by zero | |
1537 | } | |
1538 | ||
5984acdf | 1539 | // Figure out how many segments for this gcode |
f8935932 | 1540 | // 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 |
1541 | uint16_t segments = floorf(millimeters_of_travel / arc_segment); |
1542 | bool moved= false; | |
aab6cbba | 1543 | |
64877d0a JM |
1544 | if(segments > 1) { |
1545 | float theta_per_segment = angular_travel / segments; | |
1546 | float linear_per_segment = linear_travel / segments; | |
1547 | ||
1548 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1549 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1550 | r_T = [cos(phi) -sin(phi); | |
1551 | sin(phi) cos(phi] * r ; | |
1552 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1553 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1554 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1555 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1556 | all float numbers are single precision on the Arduino. (True float precision will not have | |
1557 | round off issues for CNC applications.) Single precision error can accumulate to be greater than | |
1558 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1559 | ||
1560 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1561 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1562 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1563 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1564 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1565 | issue for CNC machines with the single precision Arduino calculations. | |
1566 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1567 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1568 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1569 | This is important when there are successive arc motions. | |
1570 | */ | |
1571 | // Vector rotation matrix values | |
1572 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation | |
1573 | float sin_T = theta_per_segment; | |
1574 | ||
1575 | // TODO we need to handle the ABC axis here by segmenting them | |
1576 | float arc_target[n_motors]; | |
1577 | float sin_Ti; | |
1578 | float cos_Ti; | |
1579 | float r_axisi; | |
1580 | uint16_t i; | |
1581 | int8_t count = 0; | |
1582 | ||
1583 | // init array for all axis | |
1584 | memcpy(arc_target, machine_position, n_motors*sizeof(float)); | |
1585 | ||
1586 | // Initialize the linear axis | |
1587 | arc_target[this->plane_axis_2] = this->machine_position[this->plane_axis_2]; | |
1588 | ||
1589 | for (i = 1; i < segments; i++) { // Increment (segments-1) | |
1590 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments | |
aab6cbba | 1591 | |
64877d0a JM |
1592 | if (count < this->arc_correction ) { |
1593 | // Apply vector rotation matrix | |
1594 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1595 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1596 | r_axis1 = r_axisi; | |
1597 | count++; | |
1598 | } else { | |
1599 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
1600 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1601 | cos_Ti = cosf(i * theta_per_segment); | |
1602 | sin_Ti = sinf(i * theta_per_segment); | |
1603 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1604 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1605 | count = 0; | |
1606 | } | |
511ba1ad | 1607 | |
64877d0a JM |
1608 | // Update arc_target location |
1609 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1610 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1611 | arc_target[this->plane_axis_2] += linear_per_segment; | |
aab6cbba | 1612 | |
64877d0a JM |
1613 | // Append this segment to the queue |
1614 | bool b= this->append_milestone(arc_target, rate_mm_s); | |
1615 | moved= moved || b; | |
aab6cbba | 1616 | } |
aab6cbba | 1617 | } |
edac9072 | 1618 | |
aab6cbba | 1619 | // Ensure last segment arrives at target location. |
121094a5 | 1620 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
350c8a60 JM |
1621 | |
1622 | return moved; | |
aab6cbba AW |
1623 | } |
1624 | ||
edac9072 | 1625 | // Do the math for an arc and add it to the queue |
29e809e0 | 1626 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode) |
4710532a | 1627 | { |
aab6cbba AW |
1628 | |
1629 | // Find the radius | |
13addf09 | 1630 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1631 | |
1632 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1633 | bool is_clockwise = false; | |
29e809e0 | 1634 | if( motion_mode == CW_ARC ) { |
4710532a JM |
1635 | is_clockwise = true; |
1636 | } | |
aab6cbba AW |
1637 | |
1638 | // Append arc | |
350c8a60 | 1639 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1640 | } |
1641 | ||
1642 | ||
4710532a JM |
1643 | float Robot::theta(float x, float y) |
1644 | { | |
1645 | float t = atanf(x / fabs(y)); | |
1646 | if (y > 0) { | |
1647 | return(t); | |
1648 | } else { | |
1649 | if (t > 0) { | |
29e809e0 | 1650 | return(PI - t); |
4710532a | 1651 | } else { |
29e809e0 | 1652 | return(-PI - t); |
4710532a JM |
1653 | } |
1654 | } | |
4cff3ded AW |
1655 | } |
1656 | ||
4710532a JM |
1657 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1658 | { | |
4cff3ded AW |
1659 | this->plane_axis_0 = axis_0; |
1660 | this->plane_axis_1 = axis_1; | |
1661 | this->plane_axis_2 = axis_2; | |
1662 | } | |
1663 | ||
fae93525 | 1664 | void Robot::clearToolOffset() |
4710532a | 1665 | { |
c2f7c261 | 1666 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1667 | } |
1668 | ||
1669 | void Robot::setToolOffset(const float offset[3]) | |
1670 | { | |
c2f7c261 | 1671 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1672 | } |
1673 | ||
0ec2f63a JM |
1674 | float Robot::get_feed_rate() const |
1675 | { | |
1676 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1677 | } | |
7e9e31b0 JM |
1678 | |
1679 | bool Robot::is_homed(uint8_t i) const | |
1680 | { | |
1681 | if(i >= 3) return false; // safety | |
1682 | ||
1683 | // if we are homing we ignore soft endstops so return false | |
1684 | bool homing; | |
1685 | bool ok = PublicData::get_value(endstops_checksum, get_homing_status_checksum, 0, &homing); | |
1686 | if(!ok || homing) return false; | |
1687 | ||
1688 | // check individual axis homing status | |
1689 | bool homed[3]; | |
1690 | ok = PublicData::get_value(endstops_checksum, get_homed_status_checksum, 0, homed); | |
1691 | if(!ok) return false; | |
1692 | return homed[i]; | |
1693 | } |