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" |
0ec2f63a | 36 | |
29e809e0 JM |
37 | #include "mbed.h" // for us_ticker_read() |
38 | #include "mri.h" | |
39 | ||
40 | #include <fastmath.h> | |
41 | #include <string> | |
42 | #include <algorithm> | |
38bf9a1c | 43 | |
78d0e16a MM |
44 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
45 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
46 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
47 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
48 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
83c6e067 | 49 | #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error") |
78d0e16a MM |
50 | #define arc_correction_checksum CHECKSUM("arc_correction") |
51 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
52 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
53 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
a3e1326a | 54 | #define segment_z_moves_checksum CHECKSUM("segment_z_moves") |
3aad33c7 | 55 | #define save_g92_checksum CHECKSUM("save_g92") |
39280f30 | 56 | #define set_g92_checksum CHECKSUM("set_g92") |
43424972 JM |
57 | |
58 | // arm solutions | |
78d0e16a MM |
59 | #define arm_solution_checksum CHECKSUM("arm_solution") |
60 | #define cartesian_checksum CHECKSUM("cartesian") | |
61 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
62 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 63 | #define linear_delta_checksum CHECKSUM("linear_delta") |
11a39396 | 64 | #define rotary_delta_checksum CHECKSUM("rotary_delta") |
78d0e16a MM |
65 | #define delta_checksum CHECKSUM("delta") |
66 | #define hbot_checksum CHECKSUM("hbot") | |
67 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 68 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 69 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 70 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 71 | |
78d0e16a MM |
72 | // new-style actuator stuff |
73 | #define actuator_checksum CHEKCSUM("actuator") | |
74 | ||
75 | #define step_pin_checksum CHECKSUM("step_pin") | |
76 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
77 | #define en_pin_checksum CHECKSUM("en_pin") | |
78 | ||
79 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 80 | #define max_rate_checksum CHECKSUM("max_rate") |
29e809e0 JM |
81 | #define acceleration_checksum CHECKSUM("acceleration") |
82 | #define z_acceleration_checksum CHECKSUM("z_acceleration") | |
78d0e16a MM |
83 | |
84 | #define alpha_checksum CHECKSUM("alpha") | |
85 | #define beta_checksum CHECKSUM("beta") | |
86 | #define gamma_checksum CHECKSUM("gamma") | |
87 | ||
507b2403 JM |
88 | #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power") |
89 | ||
29e809e0 JM |
90 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians) |
91 | #define PI 3.14159265358979323846F // force to be float, do not use M_PI | |
5fa0c173 | 92 | |
edac9072 AW |
93 | // 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 |
94 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
95 | ||
4710532a JM |
96 | Robot::Robot() |
97 | { | |
a1b7e9f0 | 98 | this->inch_mode = false; |
0e8b102e | 99 | this->absolute_mode = true; |
29e809e0 | 100 | this->e_absolute_mode = true; |
4cff3ded | 101 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
45ca77ec JM |
102 | memset(this->machine_position, 0, sizeof machine_position); |
103 | memset(this->compensated_machine_position, 0, sizeof compensated_machine_position); | |
0b804a41 | 104 | this->arm_solution = NULL; |
da947c62 | 105 | seconds_per_minute = 60.0F; |
fae93525 | 106 | this->clearToolOffset(); |
03b01bac | 107 | this->compensationTransform = nullptr; |
121094a5 | 108 | this->get_e_scale_fnc= nullptr; |
03b01bac JM |
109 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); |
110 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 111 | this->next_command_is_MCS = false; |
778093ce | 112 | this->disable_segmentation= false; |
84cf4071 | 113 | this->disable_arm_solution= false; |
29e809e0 | 114 | this->n_motors= 0; |
4cff3ded AW |
115 | } |
116 | ||
117 | //Called when the module has just been loaded | |
4710532a JM |
118 | void Robot::on_module_loaded() |
119 | { | |
4cff3ded AW |
120 | this->register_for_event(ON_GCODE_RECEIVED); |
121 | ||
122 | // Configuration | |
807b9b57 | 123 | this->load_config(); |
da24d6ae AW |
124 | } |
125 | ||
807b9b57 JM |
126 | #define ACTUATOR_CHECKSUMS(X) { \ |
127 | CHECKSUM(X "_step_pin"), \ | |
128 | CHECKSUM(X "_dir_pin"), \ | |
129 | CHECKSUM(X "_en_pin"), \ | |
130 | CHECKSUM(X "_steps_per_mm"), \ | |
29e809e0 JM |
131 | CHECKSUM(X "_max_rate"), \ |
132 | CHECKSUM(X "_acceleration") \ | |
807b9b57 | 133 | } |
5984acdf | 134 | |
807b9b57 JM |
135 | void Robot::load_config() |
136 | { | |
edac9072 AW |
137 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
138 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
139 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 140 | // Here we read the config to find out which arm solution to use |
0b804a41 | 141 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 142 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 143 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 144 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 145 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 146 | |
fff1e42d JJ |
147 | } else if(solution_checksum == corexz_checksum) { |
148 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
149 | ||
2a06c415 JM |
150 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
151 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 152 | |
4710532a | 153 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 154 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 155 | |
11a39396 JM |
156 | } else if(solution_checksum == rotary_delta_checksum) { |
157 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 158 | |
1217e470 QH |
159 | } else if(solution_checksum == morgan_checksum) { |
160 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
161 | ||
4710532a | 162 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 163 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 164 | |
4710532a | 165 | } else { |
314ab8f7 | 166 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 167 | } |
73a4e3c0 | 168 | |
6b661ab3 DP |
169 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
170 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
171 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
172 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
b259f517 | 173 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.0f)->as_number(); |
4d0f60a9 | 174 | this->mm_max_arc_error = THEKERNEL->config->value(mm_max_arc_error_checksum )->by_default( 0.01f)->as_number(); |
6b661ab3 | 175 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
78d0e16a | 176 | |
29e809e0 | 177 | // in mm/sec but specified in config as mm/min |
6b661ab3 DP |
178 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
179 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
180 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 181 | |
a3e1326a | 182 | this->segment_z_moves = THEKERNEL->config->value(segment_z_moves_checksum )->by_default(true)->as_bool(); |
3aad33c7 | 183 | this->save_g92 = THEKERNEL->config->value(save_g92_checksum )->by_default(false)->as_bool(); |
39280f30 JM |
184 | string g92 = THEKERNEL->config->value(set_g92_checksum )->by_default("")->as_string(); |
185 | if(!g92.empty()) { | |
186 | // optional setting for a fixed G92 offset | |
187 | std::vector<float> t= parse_number_list(g92.c_str()); | |
188 | if(t.size() == 3) { | |
189 | g92_offset = wcs_t(t[0], t[1], t[2]); | |
190 | } | |
191 | } | |
a3e1326a | 192 | |
507b2403 JM |
193 | // default s value for laser |
194 | this->s_value = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(0.8F)->as_number(); | |
195 | ||
319e12fc | 196 | // Make our Primary XYZ StepperMotors, and potentially A B C |
29e809e0 JM |
197 | uint16_t const checksums[][6] = { |
198 | ACTUATOR_CHECKSUMS("alpha"), // X | |
199 | ACTUATOR_CHECKSUMS("beta"), // Y | |
200 | ACTUATOR_CHECKSUMS("gamma"), // Z | |
37b7b898 JM |
201 | #if MAX_ROBOT_ACTUATORS > 3 |
202 | ACTUATOR_CHECKSUMS("delta"), // A | |
203 | #if MAX_ROBOT_ACTUATORS > 4 | |
204 | ACTUATOR_CHECKSUMS("epsilon"), // B | |
205 | #if MAX_ROBOT_ACTUATORS > 5 | |
206 | ACTUATOR_CHECKSUMS("zeta") // C | |
207 | #endif | |
208 | #endif | |
209 | #endif | |
807b9b57 | 210 | }; |
807b9b57 | 211 | |
29e809e0 JM |
212 | // default acceleration setting, can be overriden with newer per axis settings |
213 | this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2 | |
214 | ||
215 | // make each motor | |
37b7b898 | 216 | for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) { |
807b9b57 JM |
217 | Pin pins[3]; //step, dir, enable |
218 | for (size_t i = 0; i < 3; i++) { | |
219 | pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output(); | |
96ef0809 JM |
220 | } |
221 | ||
4d5d8050 JM |
222 | if(!pins[0].connected() || !pins[1].connected()) { // step and dir must be defined, but enable is optional |
223 | if(a <= Z_AXIS) { | |
224 | THEKERNEL->streams->printf("FATAL: motor %c is not defined in config\n", 'X'+a); | |
225 | n_motors= a; // we only have this number of motors | |
226 | return; | |
227 | } | |
96ef0809 | 228 | break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order) |
807b9b57 | 229 | } |
37b7b898 | 230 | |
29e809e0 JM |
231 | StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]); |
232 | // register this motor (NB This must be 0,1,2) of the actuators array | |
233 | uint8_t n= register_motor(sm); | |
234 | if(n != a) { | |
235 | // this is a fatal error | |
236 | THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a); | |
4d5d8050 | 237 | return; |
29e809e0 | 238 | } |
78d0e16a | 239 | |
03b01bac | 240 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
3702f300 | 241 | actuators[a]->set_max_rate(THEKERNEL->config->value(checksums[a][4])->by_default(30000.0F)->as_number()/60.0F); // it is in mm/min and converted to mm/sec |
29e809e0 | 242 | actuators[a]->set_acceleration(THEKERNEL->config->value(checksums[a][5])->by_default(NAN)->as_number()); // mm/secs² |
807b9b57 | 243 | } |
a84f0186 | 244 | |
dd0a7cfa | 245 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 246 | |
29e809e0 JM |
247 | // if we have not specified a z acceleration see if the legacy config was set |
248 | if(isnan(actuators[Z_AXIS]->get_acceleration())) { | |
249 | float acc= THEKERNEL->config->value(z_acceleration_checksum)->by_default(NAN)->as_number(); // disabled by default | |
250 | if(!isnan(acc)) { | |
251 | actuators[Z_AXIS]->set_acceleration(acc); | |
252 | } | |
253 | } | |
254 | ||
975469ad MM |
255 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
256 | // so the first move can be correct if homing is not performed | |
807b9b57 | 257 | ActuatorCoordinates actuator_pos; |
45ca77ec | 258 | arm_solution->cartesian_to_actuator(machine_position, actuator_pos); |
29e809e0 | 259 | for (size_t i = 0; i < n_motors; i++) |
975469ad | 260 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
261 | |
262 | //this->clearToolOffset(); | |
4cff3ded AW |
263 | } |
264 | ||
29e809e0 JM |
265 | uint8_t Robot::register_motor(StepperMotor *motor) |
266 | { | |
267 | // register this motor with the step ticker | |
268 | THEKERNEL->step_ticker->register_motor(motor); | |
269 | if(n_motors >= k_max_actuators) { | |
270 | // this is a fatal error | |
271 | THEKERNEL->streams->printf("FATAL: too many motors, increase k_max_actuators\n"); | |
272 | __debugbreak(); | |
273 | } | |
2cd32d70 | 274 | actuators.push_back(motor); |
8e30d648 | 275 | motor->set_motor_id(n_motors); |
2cd32d70 | 276 | return n_motors++; |
29e809e0 JM |
277 | } |
278 | ||
212caccd JM |
279 | void Robot::push_state() |
280 | { | |
03b01bac | 281 | bool am = this->absolute_mode; |
29e809e0 | 282 | bool em = this->e_absolute_mode; |
03b01bac | 283 | bool im = this->inch_mode; |
29e809e0 | 284 | saved_state_t s(this->feed_rate, this->seek_rate, am, em, im, current_wcs); |
212caccd JM |
285 | state_stack.push(s); |
286 | } | |
287 | ||
288 | void Robot::pop_state() | |
289 | { | |
03b01bac JM |
290 | if(!state_stack.empty()) { |
291 | auto s = state_stack.top(); | |
212caccd | 292 | state_stack.pop(); |
03b01bac JM |
293 | this->feed_rate = std::get<0>(s); |
294 | this->seek_rate = std::get<1>(s); | |
295 | this->absolute_mode = std::get<2>(s); | |
29e809e0 JM |
296 | this->e_absolute_mode = std::get<3>(s); |
297 | this->inch_mode = std::get<4>(s); | |
298 | this->current_wcs = std::get<5>(s); | |
212caccd JM |
299 | } |
300 | } | |
301 | ||
34210908 JM |
302 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
303 | { | |
304 | std::vector<wcs_t> v; | |
0b8b81b6 | 305 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
306 | for(auto& i : wcs_offsets) { |
307 | v.push_back(i); | |
308 | } | |
309 | v.push_back(g92_offset); | |
310 | v.push_back(tool_offset); | |
311 | return v; | |
312 | } | |
313 | ||
fdfa00d2 JM |
314 | void Robot::get_current_machine_position(float *pos) const |
315 | { | |
316 | // get real time current actuator position in mm | |
317 | ActuatorCoordinates current_position{ | |
318 | actuators[X_AXIS]->get_current_position(), | |
319 | actuators[Y_AXIS]->get_current_position(), | |
320 | actuators[Z_AXIS]->get_current_position() | |
321 | }; | |
322 | ||
323 | // get machine position from the actuator position using FK | |
324 | arm_solution->actuator_to_cartesian(current_position, pos); | |
325 | } | |
326 | ||
e03f2747 | 327 | int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const |
2791c829 JM |
328 | { |
329 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
330 | // it returns the realtime position based on the current step position of the actuators. | |
331 | // this does require a FK to get a machine position from the actuator position | |
332 | // and then invert all the transforms to get a workspace position from machine position | |
45ca77ec | 333 | // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position |
2791c829 | 334 | int n = 0; |
e03f2747 | 335 | if(subcode == 0) { // M114 print WCS |
45ca77ec | 336 | wcs_t pos= mcs2wcs(machine_position); |
31c6c2c2 | 337 | n = snprintf(buf, bufsize, "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 | 338 | |
81c3ecbf JM |
339 | } else if(subcode == 4) { |
340 | // M114.4 print last milestone | |
45ca77ec | 341 | n = snprintf(buf, bufsize, "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position[X_AXIS], machine_position[Y_AXIS], machine_position[Z_AXIS]); |
2791c829 | 342 | |
81c3ecbf JM |
343 | } else if(subcode == 5) { |
344 | // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) | |
345 | // will differ from LMS by the compensation at the current position otherwise | |
45ca77ec | 346 | n = snprintf(buf, bufsize, "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 |
347 | |
348 | } else { | |
349 | // get real time positions | |
2791c829 | 350 | float mpos[3]; |
fdfa00d2 JM |
351 | get_current_machine_position(mpos); |
352 | ||
8fe38353 JM |
353 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
354 | if(compensationTransform) compensationTransform(mpos, true); // get inverse compensation transform | |
2791c829 | 355 | |
e03f2747 | 356 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 | 357 | wcs_t pos= mcs2wcs(mpos); |
fdfa00d2 | 358 | n = snprintf(buf, bufsize, "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 | 359 | |
df4574e0 | 360 | } else if(subcode == 2) { // M114.2 print realtime Machine coordinate system |
fdfa00d2 | 361 | n = snprintf(buf, bufsize, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
2791c829 | 362 | |
df4574e0 | 363 | } else if(subcode == 3) { // M114.3 print realtime actuator position |
fdfa00d2 JM |
364 | // get real time current actuator position in mm |
365 | ActuatorCoordinates current_position{ | |
366 | actuators[X_AXIS]->get_current_position(), | |
367 | actuators[Y_AXIS]->get_current_position(), | |
368 | actuators[Z_AXIS]->get_current_position() | |
369 | }; | |
55783268 | 370 | n = snprintf(buf, bufsize, "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
2791c829 JM |
371 | } |
372 | } | |
96ef0809 JM |
373 | |
374 | #if MAX_ROBOT_ACTUATORS > 3 | |
375 | // deal with the ABC axis | |
376 | for (int i = A_AXIS; i < n_motors; ++i) { | |
5acc50ad | 377 | if(actuators[i]->is_extruder()) continue; // don't show an extruder as that will be E |
96ef0809 | 378 | if(subcode == 4) { // M114.4 print last milestone |
5acc50ad | 379 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, machine_position[i]); |
96ef0809 | 380 | |
866eaaba | 381 | }else if(subcode == 2 || subcode == 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC |
96ef0809 | 382 | // current actuator position |
5acc50ad | 383 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, actuators[i]->get_current_position()); |
96ef0809 JM |
384 | } |
385 | } | |
386 | #endif | |
387 | ||
e03f2747 | 388 | return n; |
2791c829 JM |
389 | } |
390 | ||
dc27139b | 391 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 392 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
393 | { |
394 | return std::make_tuple( | |
31c6c2c2 JM |
395 | 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), |
396 | 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), | |
397 | 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 |
398 | ); |
399 | } | |
400 | ||
dd0a7cfa JM |
401 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
402 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
403 | void Robot::check_max_actuator_speeds() | |
404 | { | |
29e809e0 | 405 | for (size_t i = 0; i < n_motors; i++) { |
6a5a91e0 JM |
406 | if(actuators[i]->is_extruder()) continue; //extruders are not included in this check |
407 | ||
807b9b57 JM |
408 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
409 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
410 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
ad6a77d1 | 411 | 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 | 412 | } |
dd0a7cfa JM |
413 | } |
414 | } | |
415 | ||
4cff3ded | 416 | //A GCode has been received |
edac9072 | 417 | //See if the current Gcode line has some orders for us |
4710532a JM |
418 | void Robot::on_gcode_received(void *argument) |
419 | { | |
420 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 421 | |
29e809e0 | 422 | enum MOTION_MODE_T motion_mode= NONE; |
4cff3ded | 423 | |
4710532a JM |
424 | if( gcode->has_g) { |
425 | switch( gcode->g ) { | |
29e809e0 JM |
426 | case 0: motion_mode = SEEK; break; |
427 | case 1: motion_mode = LINEAR; break; | |
428 | case 2: motion_mode = CW_ARC; break; | |
429 | case 3: motion_mode = CCW_ARC; break; | |
df0783b7 | 430 | case 4: { // G4 Dwell |
03b01bac | 431 | uint32_t delay_ms = 0; |
c3df978d | 432 | if (gcode->has_letter('P')) { |
df0783b7 JM |
433 | if(THEKERNEL->is_grbl_mode()) { |
434 | // in grbl mode (and linuxcnc) P is decimal seconds | |
435 | float f= gcode->get_value('P'); | |
436 | delay_ms= f * 1000.0F; | |
437 | ||
438 | }else{ | |
439 | // in reprap P is milliseconds, they always have to be different! | |
440 | delay_ms = gcode->get_int('P'); | |
441 | } | |
c3df978d JM |
442 | } |
443 | if (gcode->has_letter('S')) { | |
444 | delay_ms += gcode->get_int('S') * 1000; | |
445 | } | |
03b01bac | 446 | if (delay_ms > 0) { |
c3df978d | 447 | // drain queue |
04782655 | 448 | THEKERNEL->conveyor->wait_for_idle(); |
c3df978d | 449 | // wait for specified time |
03b01bac JM |
450 | uint32_t start = us_ticker_read(); // mbed call |
451 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 452 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 453 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
454 | } |
455 | } | |
adba2978 | 456 | } |
6b661ab3 | 457 | break; |
807b9b57 | 458 | |
a6bbe768 | 459 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 460 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
461 | size_t n = gcode->get_uint('P'); |
462 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 463 | else --n; |
0b8b81b6 | 464 | if(n < MAX_WCS) { |
807b9b57 | 465 | float x, y, z; |
03b01bac | 466 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 467 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 468 | // this makes the current machine position (less compensation transform) the offset |
dc27139b | 469 | // get current position in WCS |
45ca77ec | 470 | wcs_t pos= mcs2wcs(machine_position); |
dc27139b JM |
471 | |
472 | if(gcode->has_letter('X')){ | |
473 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
474 | } | |
475 | ||
476 | if(gcode->has_letter('Y')){ | |
477 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
478 | } | |
479 | if(gcode->has_letter('Z')) { | |
480 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
481 | } | |
482 | ||
a6bbe768 | 483 | } else { |
bb4e919a JM |
484 | if(absolute_mode) { |
485 | // the value is the offset from machine zero | |
486 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
487 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
488 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
489 | }else{ | |
490 | if(gcode->has_letter('X')) x += to_millimeters(gcode->get_value('X')); | |
491 | if(gcode->has_letter('Y')) y += to_millimeters(gcode->get_value('Y')); | |
492 | if(gcode->has_letter('Z')) z += to_millimeters(gcode->get_value('Z')); | |
493 | } | |
00e607c7 | 494 | } |
03b01bac | 495 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
496 | } |
497 | } | |
498 | break; | |
499 | ||
6e92ab91 JM |
500 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
501 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
502 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
503 | case 20: this->inch_mode = true; break; | |
504 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
505 | |
506 | case 54: case 55: case 56: case 57: case 58: case 59: | |
507 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 508 | current_wcs = gcode->g - 54; |
807b9b57 JM |
509 | if(gcode->g == 59 && gcode->subcode > 0) { |
510 | current_wcs += gcode->subcode; | |
0b8b81b6 | 511 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
512 | } |
513 | break; | |
514 | ||
29e809e0 JM |
515 | case 90: this->absolute_mode = true; this->e_absolute_mode = true; break; |
516 | case 91: this->absolute_mode = false; this->e_absolute_mode = false; break; | |
807b9b57 | 517 | |
0b804a41 | 518 | case 92: { |
a9e8c04b | 519 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
520 | // reset G92 offsets to 0 |
521 | g92_offset = wcs_t(0, 0, 0); | |
522 | ||
cee8bc1d JM |
523 | } else if(gcode->subcode == 3) { |
524 | // initialize G92 to the specified values, only used for saving it with M500 | |
525 | float x= 0, y= 0, z= 0; | |
526 | if(gcode->has_letter('X')) x= gcode->get_value('X'); | |
527 | if(gcode->has_letter('Y')) y= gcode->get_value('Y'); | |
528 | if(gcode->has_letter('Z')) z= gcode->get_value('Z'); | |
529 | g92_offset = wcs_t(x, y, z); | |
530 | ||
4710532a | 531 | } else { |
61a3fa99 | 532 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 533 | float x, y, z; |
03b01bac | 534 | std::tie(x, y, z) = g92_offset; |
61a3fa99 | 535 | // get current position in WCS |
45ca77ec | 536 | wcs_t pos= mcs2wcs(machine_position); |
61a3fa99 JM |
537 | |
538 | // adjust g92 offset to make the current wpos == the value requested | |
539 | if(gcode->has_letter('X')){ | |
540 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
541 | } | |
dc27139b JM |
542 | if(gcode->has_letter('Y')){ |
543 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
544 | } | |
545 | if(gcode->has_letter('Z')) { | |
546 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
547 | } | |
03b01bac | 548 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 549 | } |
a6bbe768 | 550 | |
13ad7234 JM |
551 | #if MAX_ROBOT_ACTUATORS > 3 |
552 | if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){ | |
553 | // reset the E position, legacy for 3d Printers to be reprap compatible | |
554 | // find the selected extruder | |
325ed08b JM |
555 | int selected_extruder= get_active_extruder(); |
556 | if(selected_extruder > 0) { | |
557 | float e= gcode->has_letter('E') ? gcode->get_value('E') : 0; | |
558 | machine_position[selected_extruder]= compensated_machine_position[selected_extruder]= e; | |
559 | actuators[selected_extruder]->change_last_milestone(get_e_scale_fnc ? e*get_e_scale_fnc() : e); | |
13ad7234 JM |
560 | } |
561 | } | |
562 | #endif | |
563 | ||
78d0e16a | 564 | return; |
4710532a JM |
565 | } |
566 | } | |
67a649dd | 567 | |
4710532a JM |
568 | } else if( gcode->has_m) { |
569 | switch( gcode->m ) { | |
20ed51b7 JM |
570 | // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold) |
571 | // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0); | |
572 | // break; | |
01a8d21a JM |
573 | |
574 | case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file) | |
575 | if(!THEKERNEL->is_grbl_mode()) break; | |
576 | // fall through to M2 | |
807b9b57 | 577 | case 2: // M2 end of program |
03b01bac JM |
578 | current_wcs = 0; |
579 | absolute_mode = true; | |
807b9b57 | 580 | break; |
9e6014a6 JM |
581 | case 17: |
582 | THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on | |
583 | break; | |
584 | ||
d01fbc6f JM |
585 | case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off |
586 | if(gcode->get_num_args() > 0) { | |
587 | // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C | |
588 | uint32_t bm= 0; | |
589 | for (int i = 0; i < n_motors; ++i) { | |
590 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-3)); | |
591 | if(gcode->has_letter(axis)) bm |= (0x02<<i); // set appropriate bit | |
592 | } | |
559c0e6a JM |
593 | // handle E parameter as currently selected extruder ABC |
594 | if(gcode->has_letter('E')) { | |
325ed08b JM |
595 | // find first selected extruder |
596 | int i= get_active_extruder(); | |
597 | if(i > 0) { | |
598 | bm |= (0x02<<i); // set appropriate bit | |
559c0e6a JM |
599 | } |
600 | } | |
601 | ||
d01fbc6f JM |
602 | THEKERNEL->conveyor->wait_for_idle(); |
603 | THEKERNEL->call_event(ON_ENABLE, (void *)bm); | |
604 | break; | |
605 | } | |
606 | // fall through | |
9e6014a6 | 607 | case 84: |
04782655 | 608 | THEKERNEL->conveyor->wait_for_idle(); |
9e6014a6 JM |
609 | THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off |
610 | break; | |
807b9b57 | 611 | |
29e809e0 JM |
612 | case 82: e_absolute_mode= true; break; |
613 | case 83: e_absolute_mode= false; break; | |
614 | ||
0fb5b438 | 615 | case 92: // M92 - set steps per mm |
5acc50ad | 616 | for (int i = 0; i < n_motors; ++i) { |
13721c6c | 617 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
618 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); |
619 | if(gcode->has_letter(axis)) { | |
620 | actuators[i]->change_steps_per_mm(this->to_millimeters(gcode->get_value(axis))); | |
621 | } | |
622 | gcode->stream->printf("%c:%f ", axis, actuators[i]->get_steps_per_mm()); | |
623 | } | |
0fb5b438 | 624 | gcode->add_nl = true; |
dd0a7cfa | 625 | check_max_actuator_speeds(); |
0fb5b438 | 626 | return; |
562db364 | 627 | |
e03f2747 | 628 | case 114:{ |
56727944 | 629 | char buf[128]; |
e03f2747 JM |
630 | int n= print_position(gcode->subcode, buf, sizeof buf); |
631 | if(n > 0) gcode->txt_after_ok.append(buf, n); | |
2791c829 | 632 | return; |
e03f2747 | 633 | } |
33e4cc02 | 634 | |
212caccd JM |
635 | case 120: // push state |
636 | push_state(); | |
637 | break; | |
562db364 JM |
638 | |
639 | case 121: // pop state | |
212caccd | 640 | pop_state(); |
562db364 JM |
641 | break; |
642 | ||
125b71ce JM |
643 | case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates |
644 | if(gcode->get_num_args() == 0) { | |
645 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
55783268 | 646 | gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate()); |
125b71ce | 647 | } |
5acc50ad JM |
648 | if(gcode->subcode == 1) { |
649 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
13721c6c | 650 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves |
5acc50ad JM |
651 | gcode->stream->printf(" %c: %g ", 'A' + i - A_AXIS, actuators[i]->get_max_rate()); |
652 | } | |
653 | } | |
654 | ||
125b71ce | 655 | gcode->add_nl = true; |
dd0a7cfa | 656 | |
125b71ce JM |
657 | }else{ |
658 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
659 | if (gcode->has_letter('X' + i)) { | |
55783268 JM |
660 | float v= gcode->get_value('X'+i); |
661 | if(gcode->subcode == 0) this->max_speeds[i]= v; | |
662 | else if(gcode->subcode == 1) actuators[i]->set_max_rate(v); | |
125b71ce JM |
663 | } |
664 | } | |
3e1ea0e2 | 665 | |
5acc50ad JM |
666 | if(gcode->subcode == 1) { |
667 | // ABC axis only handle actuator max speeds | |
668 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
669 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
670 | int c= 'A' + i - A_AXIS; | |
671 | if(gcode->has_letter(c)) { | |
672 | float v= gcode->get_value(c); | |
673 | actuators[i]->set_max_rate(v); | |
674 | } | |
675 | } | |
676 | } | |
677 | ||
678 | ||
3e1ea0e2 JM |
679 | // this format is deprecated |
680 | if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) { | |
681 | gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n"); | |
be7f67cd | 682 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
3e1ea0e2 JM |
683 | if (gcode->has_letter('A' + i)) { |
684 | float v= gcode->get_value('A'+i); | |
685 | actuators[i]->set_max_rate(v); | |
686 | } | |
687 | } | |
688 | } | |
689 | ||
55783268 | 690 | if(gcode->subcode == 1) check_max_actuator_speeds(); |
807b9b57 | 691 | } |
125b71ce | 692 | break; |
83488642 | 693 | |
29e809e0 | 694 | case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration |
4710532a | 695 | if (gcode->has_letter('S')) { |
4710532a | 696 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 697 | // enforce minimum |
29e809e0 JM |
698 | if (acc < 1.0F) acc = 1.0F; |
699 | this->default_acceleration = acc; | |
d4ee6ee2 | 700 | } |
5acc50ad JM |
701 | for (int i = 0; i < n_motors; ++i) { |
702 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
703 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
704 | if(gcode->has_letter(axis)) { | |
705 | float acc = gcode->get_value(axis); // mm/s^2 | |
29e809e0 JM |
706 | // enforce positive |
707 | if (acc <= 0.0F) acc = NAN; | |
708 | actuators[i]->set_acceleration(acc); | |
709 | } | |
c5fe1787 | 710 | } |
d4ee6ee2 JM |
711 | break; |
712 | ||
125b71ce | 713 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed |
4710532a JM |
714 | if (gcode->has_letter('X')) { |
715 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 716 | // enforce minimum |
8b69c90d JM |
717 | if (jd < 0.0F) |
718 | jd = 0.0F; | |
4710532a | 719 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 720 | } |
107df03f JM |
721 | if (gcode->has_letter('Z')) { |
722 | float jd = gcode->get_value('Z'); | |
723 | // enforce minimum, -1 disables it and uses regular junction deviation | |
73a0eab6 JM |
724 | if (jd <= -1.0F) |
725 | jd = NAN; | |
107df03f JM |
726 | THEKERNEL->planner->z_junction_deviation = jd; |
727 | } | |
4710532a JM |
728 | if (gcode->has_letter('S')) { |
729 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
730 | // enforce minimum |
731 | if (mps < 0.0F) | |
732 | mps = 0.0F; | |
4710532a | 733 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 734 | } |
d4ee6ee2 | 735 | break; |
98761c28 | 736 | |
7369629d | 737 | case 220: // M220 - speed override percentage |
4710532a | 738 | if (gcode->has_letter('S')) { |
1ad23cd3 | 739 | float factor = gcode->get_value('S'); |
98761c28 | 740 | // enforce minimum 10% speed |
da947c62 MM |
741 | if (factor < 10.0F) |
742 | factor = 10.0F; | |
743 | // enforce maximum 10x speed | |
744 | if (factor > 1000.0F) | |
745 | factor = 1000.0F; | |
746 | ||
747 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 748 | } else { |
9ef9f45b | 749 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 750 | } |
b4f56013 | 751 | break; |
ec4773e5 | 752 | |
494dc541 | 753 | case 400: // wait until all moves are done up to this point |
04782655 | 754 | THEKERNEL->conveyor->wait_for_idle(); |
494dc541 JM |
755 | break; |
756 | ||
33e4cc02 | 757 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 758 | case 503: { // M503 just prints the settings |
5acc50ad JM |
759 | gcode->stream->printf(";Steps per unit:\nM92 "); |
760 | for (int i = 0; i < n_motors; ++i) { | |
761 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
762 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
763 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_steps_per_mm()); | |
764 | } | |
765 | gcode->stream->printf("\n"); | |
df56baf2 | 766 | |
5acc50ad | 767 | // only print if not NAN |
df56baf2 | 768 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration); |
5acc50ad JM |
769 | for (int i = 0; i < n_motors; ++i) { |
770 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
771 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
772 | if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_acceleration()); | |
df56baf2 JM |
773 | } |
774 | gcode->stream->printf("\n"); | |
775 | ||
43fa8fd2 | 776 | 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 |
777 | |
778 | 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 |
779 | |
780 | gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 "); | |
781 | for (int i = 0; i < n_motors; ++i) { | |
782 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
783 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
784 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_max_rate()); | |
785 | } | |
786 | gcode->stream->printf("\n"); | |
b7cd847e JM |
787 | |
788 | // get or save any arm solution specific optional values | |
789 | BaseSolution::arm_options_t options; | |
790 | if(arm_solution->get_optional(options) && !options.empty()) { | |
791 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 792 | for(auto &i : options) { |
b7cd847e JM |
793 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
794 | } | |
795 | gcode->stream->printf("\n"); | |
796 | } | |
6e92ab91 | 797 | |
807b9b57 JM |
798 | // save wcs_offsets and current_wcs |
799 | // TODO this may need to be done whenever they change to be compliant | |
800 | gcode->stream->printf(";WCS settings\n"); | |
40fd5d98 | 801 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); |
03b01bac | 802 | int n = 1; |
807b9b57 | 803 | for(auto &i : wcs_offsets) { |
2791c829 | 804 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
805 | float x, y, z; |
806 | std::tie(x, y, z) = i; | |
40fd5d98 | 807 | 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 | 808 | } |
807b9b57 JM |
809 | ++n; |
810 | } | |
3aad33c7 JM |
811 | if(save_g92) { |
812 | // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility | |
813 | // 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 | |
814 | if(g92_offset != wcs_t(0, 0, 0)) { | |
815 | float x, y, z; | |
816 | std::tie(x, y, z) = g92_offset; | |
817 | gcode->stream->printf("G92.3 X%f Y%f Z%f\n", x, y, z); // sets G92 to the specified values | |
818 | } | |
67a649dd JM |
819 | } |
820 | } | |
807b9b57 | 821 | break; |
33e4cc02 | 822 | |
b7cd847e | 823 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 824 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 825 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
826 | options.erase('S'); // don't include the S |
827 | options.erase('U'); // don't include the U | |
828 | if(options.size() > 0) { | |
829 | // set the specified options | |
830 | arm_solution->set_optional(options); | |
831 | } | |
832 | options.clear(); | |
b7cd847e | 833 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 834 | // foreach optional value |
4710532a | 835 | for(auto &i : options) { |
b7cd847e JM |
836 | // print all current values of supported options |
837 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 838 | gcode->add_nl = true; |
ec4773e5 JM |
839 | } |
840 | } | |
ec4773e5 | 841 | |
4a839bea | 842 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 843 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
844 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
845 | ||
03b01bac | 846 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
847 | this->mm_per_line_segment = gcode->get_value('U'); |
848 | this->delta_segments_per_second = 0; | |
849 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 850 | } |
4a839bea | 851 | |
ec4773e5 | 852 | break; |
b7cd847e | 853 | } |
6989211c | 854 | } |
494dc541 JM |
855 | } |
856 | ||
29e809e0 | 857 | if( motion_mode != NONE) { |
e560f057 | 858 | is_g123= motion_mode != SEEK; |
29e809e0 | 859 | process_move(gcode, motion_mode); |
e560f057 JM |
860 | |
861 | }else{ | |
862 | is_g123= false; | |
00e607c7 | 863 | } |
6bc4a00a | 864 | |
c2f7c261 JM |
865 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
866 | } | |
350c8a60 | 867 | |
325ed08b JM |
868 | int Robot::get_active_extruder() const |
869 | { | |
870 | for (int i = E_AXIS; i < n_motors; ++i) { | |
871 | // find first selected extruder | |
aef2eec0 | 872 | if(actuators[i]->is_extruder() && actuators[i]->is_selected()) return i; |
325ed08b JM |
873 | } |
874 | return 0; | |
875 | } | |
876 | ||
5d2319a9 | 877 | // process a G0/G1/G2/G3 |
29e809e0 | 878 | void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode) |
c2f7c261 | 879 | { |
2791c829 | 880 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
ad6a77d1 | 881 | // get XYZ and one E (which goes to the selected extruder) |
29e809e0 JM |
882 | float param[4]{NAN, NAN, NAN, NAN}; |
883 | ||
884 | // process primary axis | |
350c8a60 JM |
885 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
886 | char letter= 'X'+i; | |
887 | if( gcode->has_letter(letter) ) { | |
888 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
889 | } |
890 | } | |
6bc4a00a | 891 | |
c2f7c261 | 892 | float offset[3]{0,0,0}; |
4710532a JM |
893 | for(char letter = 'I'; letter <= 'K'; letter++) { |
894 | if( gcode->has_letter(letter) ) { | |
895 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
896 | } |
897 | } | |
00e607c7 | 898 | |
c2f7c261 | 899 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
29e809e0 | 900 | float target[n_motors]; |
45ca77ec | 901 | memcpy(target, machine_position, n_motors*sizeof(float)); |
29e809e0 | 902 | |
350c8a60 JM |
903 | if(!next_command_is_MCS) { |
904 | if(this->absolute_mode) { | |
c2f7c261 JM |
905 | // apply wcs offsets and g92 offset and tool offset |
906 | if(!isnan(param[X_AXIS])) { | |
907 | 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); | |
908 | } | |
909 | ||
910 | if(!isnan(param[Y_AXIS])) { | |
911 | 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); | |
912 | } | |
913 | ||
914 | if(!isnan(param[Z_AXIS])) { | |
915 | 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); | |
916 | } | |
350c8a60 JM |
917 | |
918 | }else{ | |
45ca77ec | 919 | // they are deltas from the machine_position if specified |
350c8a60 | 920 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
45ca77ec | 921 | if(!isnan(param[i])) target[i] = param[i] + machine_position[i]; |
a6bbe768 JM |
922 | } |
923 | } | |
924 | ||
350c8a60 | 925 | }else{ |
c2f7c261 JM |
926 | // already in machine coordinates, we do not add tool offset for that |
927 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
928 | if(!isnan(param[i])) target[i] = param[i]; | |
929 | } | |
c2885de8 | 930 | } |
6bc4a00a | 931 | |
37b7b898 JM |
932 | float delta_e= NAN; |
933 | ||
934 | #if MAX_ROBOT_ACTUATORS > 3 | |
29e809e0 | 935 | // process extruder parameters, for active extruder only (only one active extruder at a time) |
325ed08b | 936 | int selected_extruder= 0; |
29e809e0 | 937 | if(gcode->has_letter('E')) { |
325ed08b JM |
938 | selected_extruder= get_active_extruder(); |
939 | param[E_AXIS]= gcode->get_value('E'); | |
29e809e0 JM |
940 | } |
941 | ||
942 | // do E for the selected extruder | |
29e809e0 JM |
943 | if(selected_extruder > 0 && !isnan(param[E_AXIS])) { |
944 | if(this->e_absolute_mode) { | |
945 | target[selected_extruder]= param[E_AXIS]; | |
45ca77ec | 946 | delta_e= target[selected_extruder] - machine_position[selected_extruder]; |
29e809e0 JM |
947 | }else{ |
948 | delta_e= param[E_AXIS]; | |
45ca77ec | 949 | target[selected_extruder] = delta_e + machine_position[selected_extruder]; |
29e809e0 JM |
950 | } |
951 | } | |
952 | ||
37b7b898 JM |
953 | // 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 |
954 | for (int i = A_AXIS; i < n_motors; ++i) { | |
955 | char letter= 'A'+i-A_AXIS; | |
956 | if(gcode->has_letter(letter)) { | |
957 | float p= gcode->get_value(letter); | |
958 | if(this->absolute_mode) { | |
959 | target[i]= p; | |
960 | }else{ | |
5acc50ad | 961 | target[i]= p + machine_position[i]; |
37b7b898 JM |
962 | } |
963 | } | |
964 | } | |
965 | #endif | |
966 | ||
4710532a | 967 | if( gcode->has_letter('F') ) { |
29e809e0 | 968 | if( motion_mode == SEEK ) |
da947c62 | 969 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 970 | else |
da947c62 | 971 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 972 | } |
6bc4a00a | 973 | |
73cc27d2 | 974 | // S is modal When specified on a G0/1/2/3 command |
e560f057 JM |
975 | if(gcode->has_letter('S')) s_value= gcode->get_value('S'); |
976 | ||
350c8a60 | 977 | bool moved= false; |
29e809e0 JM |
978 | |
979 | // Perform any physical actions | |
980 | switch(motion_mode) { | |
981 | case NONE: break; | |
982 | ||
983 | case SEEK: | |
984 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 985 | break; |
29e809e0 JM |
986 | |
987 | case LINEAR: | |
988 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 989 | break; |
29e809e0 JM |
990 | |
991 | case CW_ARC: | |
992 | case CCW_ARC: | |
374d0777 | 993 | // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3) |
29e809e0 | 994 | moved= this->compute_arc(gcode, offset, target, motion_mode); |
350c8a60 | 995 | break; |
4cff3ded | 996 | } |
13e4a3f9 | 997 | |
c2f7c261 | 998 | if(moved) { |
45ca77ec JM |
999 | // set machine_position to the calculated target |
1000 | memcpy(machine_position, target, n_motors*sizeof(float)); | |
350c8a60 | 1001 | } |
edac9072 AW |
1002 | } |
1003 | ||
a6bbe768 | 1004 | // reset the machine position for all axis. Used for homing. |
fd2341bc | 1005 | // after homing we supply the cartesian coordinates that the head is at when homed, |
bccd3a3e JM |
1006 | // however for Z this is the compensated machine position (if enabled) |
1007 | // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position | |
8fe38353 | 1008 | // this will make the results from M114 and ? consistent after homing. |
bccd3a3e | 1009 | // 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 |
1010 | void Robot::reset_axis_position(float x, float y, float z) |
1011 | { | |
fd2341bc | 1012 | // set both the same initially |
45ca77ec JM |
1013 | compensated_machine_position[X_AXIS]= machine_position[X_AXIS] = x; |
1014 | compensated_machine_position[Y_AXIS]= machine_position[Y_AXIS] = y; | |
1015 | compensated_machine_position[Z_AXIS]= machine_position[Z_AXIS] = z; | |
cef9acea | 1016 | |
8fe38353 | 1017 | if(compensationTransform) { |
45ca77ec JM |
1018 | // apply inverse transform to get machine_position |
1019 | compensationTransform(machine_position, true); | |
8fe38353 JM |
1020 | } |
1021 | ||
fd2341bc | 1022 | // now set the actuator positions based on the supplied compensated position |
807b9b57 | 1023 | ActuatorCoordinates actuator_pos; |
45ca77ec | 1024 | arm_solution->cartesian_to_actuator(this->compensated_machine_position, actuator_pos); |
29e809e0 | 1025 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
cef9acea JM |
1026 | actuators[i]->change_last_milestone(actuator_pos[i]); |
1027 | } | |
1028 | ||
de2ee57c | 1029 | // Reset the position for an axis (used in homing, and to reset extruder after suspend) |
4710532a JM |
1030 | void Robot::reset_axis_position(float position, int axis) |
1031 | { | |
45ca77ec | 1032 | compensated_machine_position[axis] = position; |
de2ee57c | 1033 | if(axis <= Z_AXIS) { |
45ca77ec | 1034 | reset_axis_position(compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
7d9e5765 | 1035 | |
72420864 | 1036 | #if MAX_ROBOT_ACTUATORS > 3 |
96ef0809 | 1037 | }else if(axis < n_motors) { |
7d9e5765 JM |
1038 | // ABC and/or extruders need to be set as there is no arm solution for them |
1039 | machine_position[axis]= compensated_machine_position[axis]= position; | |
1040 | actuators[axis]->change_last_milestone(machine_position[axis]); | |
72420864 | 1041 | #endif |
de2ee57c | 1042 | } |
4cff3ded AW |
1043 | } |
1044 | ||
932a3995 | 1045 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
abf706e6 | 1046 | // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp |
93f20a8c | 1047 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) |
586cc733 | 1048 | { |
fdfa00d2 JM |
1049 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
1050 | if(!isnan(ac[i])) actuators[i]->change_last_milestone(ac[i]); | |
1051 | } | |
586cc733 JM |
1052 | |
1053 | // now correct axis positions then recorrect actuator to account for rounding | |
1054 | reset_position_from_current_actuator_position(); | |
1055 | } | |
1056 | ||
a6bbe768 | 1057 | // Use FK to find out where actuator is and reset to match |
b6187406 | 1058 | // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT |
728477c4 JM |
1059 | void Robot::reset_position_from_current_actuator_position() |
1060 | { | |
807b9b57 | 1061 | ActuatorCoordinates actuator_pos; |
9fc4679b | 1062 | for (size_t i = X_AXIS; i < n_motors; i++) { |
45ca77ec | 1063 | // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort |
807b9b57 JM |
1064 | actuator_pos[i] = actuators[i]->get_current_position(); |
1065 | } | |
58587001 JM |
1066 | |
1067 | // discover machine position from where actuators actually are | |
45ca77ec JM |
1068 | arm_solution->actuator_to_cartesian(actuator_pos, compensated_machine_position); |
1069 | memcpy(machine_position, compensated_machine_position, sizeof machine_position); | |
cf91d4f3 | 1070 | |
45ca77ec JM |
1071 | // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position |
1072 | if(compensationTransform) compensationTransform(machine_position, true); // get inverse compensation transform | |
cf91d4f3 | 1073 | |
45ca77ec | 1074 | // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate. |
58587001 | 1075 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call |
932a3995 | 1076 | // to get everything in perfect sync. |
45ca77ec | 1077 | arm_solution->cartesian_to_actuator(compensated_machine_position, actuator_pos); |
325ed08b | 1078 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
7baae81a | 1079 | actuators[i]->change_last_milestone(actuator_pos[i]); |
325ed08b JM |
1080 | } |
1081 | ||
1082 | // Handle extruders and/or ABC axis | |
1083 | #if MAX_ROBOT_ACTUATORS > 3 | |
9fc4679b | 1084 | for (int i = A_AXIS; i < n_motors; i++) { |
325ed08b JM |
1085 | // ABC and/or extruders just need to set machine_position and compensated_machine_position |
1086 | float ap= actuator_pos[i]; | |
aef2eec0 | 1087 | 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 | 1088 | machine_position[i]= compensated_machine_position[i]= ap; |
5d34cbb3 | 1089 | actuators[i]->change_last_milestone(actuator_pos[i]); // this updates the last_milestone in the actuator |
325ed08b JM |
1090 | } |
1091 | #endif | |
728477c4 | 1092 | } |
edac9072 | 1093 | |
ad6a77d1 | 1094 | // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner |
45ca77ec | 1095 | // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes |
c2f7c261 | 1096 | // all transforms and is what we actually convert to actuator positions |
c1ebb1fe | 1097 | bool Robot::append_milestone(const float target[], float rate_mm_s) |
df6a30f2 | 1098 | { |
29e809e0 | 1099 | float deltas[n_motors]; |
1a936198 | 1100 | float transformed_target[n_motors]; // adjust target for bed compensation |
29e809e0 | 1101 | float unit_vec[N_PRIMARY_AXIS]; |
df6a30f2 | 1102 | |
3632a517 | 1103 | // unity transform by default |
29e809e0 | 1104 | memcpy(transformed_target, target, n_motors*sizeof(float)); |
5e45206a | 1105 | |
350c8a60 | 1106 | // check function pointer and call if set to transform the target to compensate for bed |
c1ebb1fe | 1107 | if(compensationTransform) { |
350c8a60 | 1108 | // some compensation strategies can transform XYZ, some just change Z |
8fe38353 | 1109 | compensationTransform(transformed_target, false); |
00e607c7 | 1110 | } |
807b9b57 | 1111 | |
29e809e0 | 1112 | bool move= false; |
b5bd71f8 | 1113 | float sos= 0; // sum of squares for just primary axis (XYZ usually) |
29e809e0 | 1114 | |
b84bd559 | 1115 | // find distance moved by each axis, use transformed target from the current compensated machine position |
ec45206d | 1116 | for (size_t i = 0; i < n_motors; i++) { |
45ca77ec | 1117 | deltas[i] = transformed_target[i] - compensated_machine_position[i]; |
29e809e0 JM |
1118 | if(deltas[i] == 0) continue; |
1119 | // at least one non zero delta | |
1120 | move = true; | |
b5bd71f8 | 1121 | if(i < N_PRIMARY_AXIS) { |
29e809e0 | 1122 | sos += powf(deltas[i], 2); |
121094a5 | 1123 | } |
3632a517 | 1124 | } |
aab6cbba | 1125 | |
29e809e0 JM |
1126 | // nothing moved |
1127 | if(!move) return false; | |
1128 | ||
850b4eeb | 1129 | // see if this is a primary axis move or not |
b5bd71f8 JM |
1130 | bool auxilliary_move= true; |
1131 | for (int i = 0; i < N_PRIMARY_AXIS; ++i) { | |
1132 | if(deltas[i] != 0) { | |
1133 | auxilliary_move= false; | |
1134 | break; | |
1135 | } | |
1136 | } | |
29e809e0 | 1137 | |
850b4eeb JM |
1138 | // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm |
1139 | float distance= auxilliary_move ? 0 : sqrtf(sos); | |
df6a30f2 | 1140 | |
a6bbe768 JM |
1141 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
1142 | // 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 | 1143 | if(!auxilliary_move && distance < 0.00001F) return false; |
a6bbe768 | 1144 | |
a6bbe768 | 1145 | |
29e809e0 | 1146 | if(!auxilliary_move) { |
b5bd71f8 | 1147 | for (size_t i = X_AXIS; i < N_PRIMARY_AXIS; i++) { |
14a90ad5 | 1148 | // find distance unit vector for primary axis only |
850b4eeb | 1149 | unit_vec[i] = deltas[i] / distance; |
df6a30f2 | 1150 | |
14a90ad5 JM |
1151 | // Do not move faster than the configured cartesian limits for XYZ |
1152 | if ( max_speeds[i] > 0 ) { | |
1153 | float axis_speed = fabsf(unit_vec[i] * rate_mm_s); | |
1154 | ||
1155 | if (axis_speed > max_speeds[i]) | |
1156 | rate_mm_s *= ( max_speeds[i] / axis_speed ); | |
2cd32d70 | 1157 | } |
7b470506 AW |
1158 | } |
1159 | } | |
4cff3ded | 1160 | |
c2f7c261 | 1161 | // find actuator position given the machine position, use actual adjusted target |
29e809e0 | 1162 | ActuatorCoordinates actuator_pos; |
84cf4071 JM |
1163 | if(!disable_arm_solution) { |
1164 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); | |
1165 | ||
1166 | }else{ | |
1167 | // basically the same as cartesian, would be used for special homing situations like for scara | |
1168 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
1169 | actuator_pos[i] = transformed_target[i]; | |
1170 | } | |
1171 | } | |
df6a30f2 | 1172 | |
13ad7234 | 1173 | #if MAX_ROBOT_ACTUATORS > 3 |
850b4eeb | 1174 | sos= 0; |
ad6a77d1 | 1175 | // for the extruders just copy the position, and possibly scale it from mm³ to mm |
374d0777 | 1176 | for (size_t i = E_AXIS; i < n_motors; i++) { |
850b4eeb | 1177 | actuator_pos[i]= transformed_target[i]; |
aef2eec0 | 1178 | if(actuators[i]->is_extruder() && get_e_scale_fnc) { |
29e809e0 JM |
1179 | // NOTE this relies on the fact only one extruder is active at a time |
1180 | // scale for volumetric or flow rate | |
1181 | // TODO is this correct? scaling the absolute target? what if the scale changes? | |
ec45206d | 1182 | // for volumetric it basically converts mm³ to mm, but what about flow rate? |
121094a5 | 1183 | actuator_pos[i] *= get_e_scale_fnc(); |
29e809e0 | 1184 | } |
850b4eeb JM |
1185 | if(auxilliary_move) { |
1186 | // for E only moves we need to use the scaled E to calculate the distance | |
a3b16417 | 1187 | sos += powf(actuator_pos[i] - actuators[i]->get_last_milestone(), 2); |
850b4eeb JM |
1188 | } |
1189 | } | |
1190 | if(auxilliary_move) { | |
850b4eeb | 1191 | distance= sqrtf(sos); // distance in mm of the e move |
1843a68f | 1192 | if(distance < 0.00001F) return false; |
29e809e0 JM |
1193 | } |
1194 | #endif | |
1195 | ||
1196 | // use default acceleration to start with | |
1197 | float acceleration = default_acceleration; | |
1198 | ||
850b4eeb | 1199 | float isecs = rate_mm_s / distance; |
29e809e0 | 1200 | |
df6a30f2 | 1201 | // check per-actuator speed limits |
29e809e0 JM |
1202 | for (size_t actuator = 0; actuator < n_motors; actuator++) { |
1203 | float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone()); | |
1204 | if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator | |
1205 | ||
1206 | float actuator_rate= d * isecs; | |
03b01bac | 1207 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 1208 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
850b4eeb | 1209 | isecs = rate_mm_s / distance; |
928467c0 | 1210 | } |
29e809e0 | 1211 | |
df56baf2 | 1212 | // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move |
14a90ad5 | 1213 | // 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 | 1214 | if(auxilliary_move || actuator < N_PRIMARY_AXIS) { |
df56baf2 JM |
1215 | float ma = actuators[actuator]->get_acceleration(); // in mm/sec² |
1216 | if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration | |
850b4eeb | 1217 | float ca = fabsf((d/distance) * acceleration); |
df56baf2 JM |
1218 | if (ca > ma) { |
1219 | acceleration *= ( ma / ca ); | |
1220 | } | |
29e809e0 | 1221 | } |
14a90ad5 | 1222 | } |
928467c0 JM |
1223 | } |
1224 | ||
edac9072 | 1225 | // Append the block to the planner |
850b4eeb | 1226 | // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move |
e560f057 | 1227 | if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration, s_value, is_g123)) { |
b84bd559 | 1228 | // this is the new compensated machine position |
45ca77ec | 1229 | memcpy(this->compensated_machine_position, transformed_target, n_motors*sizeof(float)); |
07879e05 | 1230 | return true; |
6f5d947f JM |
1231 | } |
1232 | ||
07879e05 JM |
1233 | // no actual move |
1234 | return false; | |
4cff3ded AW |
1235 | } |
1236 | ||
121094a5 JM |
1237 | // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc. |
1238 | bool Robot::delta_move(const float *delta, float rate_mm_s, uint8_t naxis) | |
c8bac202 JM |
1239 | { |
1240 | if(THEKERNEL->is_halted()) return false; | |
1241 | ||
121094a5 | 1242 | // catch negative or zero feed rates |
c8bac202 JM |
1243 | if(rate_mm_s <= 0.0F) { |
1244 | return false; | |
1245 | } | |
1246 | ||
45ca77ec | 1247 | // get the absolute target position, default is current machine_position |
121094a5 | 1248 | float target[n_motors]; |
45ca77ec | 1249 | memcpy(target, machine_position, n_motors*sizeof(float)); |
c8bac202 | 1250 | |
121094a5 JM |
1251 | // add in the deltas to get new target |
1252 | for (int i= 0; i < naxis; i++) { | |
1253 | target[i] += delta[i]; | |
c8bac202 | 1254 | } |
c8bac202 | 1255 | |
45ca77ec | 1256 | // submit for planning and if moved update machine_position |
c1ebb1fe | 1257 | if(append_milestone(target, rate_mm_s)) { |
45ca77ec | 1258 | memcpy(machine_position, target, n_motors*sizeof(float)); |
121094a5 | 1259 | return true; |
29e809e0 | 1260 | } |
c8bac202 | 1261 | |
121094a5 | 1262 | return false; |
c8bac202 JM |
1263 | } |
1264 | ||
edac9072 | 1265 | // Append a move to the queue ( cutting it into segments if needed ) |
29e809e0 | 1266 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s, float delta_e) |
4710532a | 1267 | { |
121094a5 JM |
1268 | // catch negative or zero feed rates and return the same error as GRBL does |
1269 | if(rate_mm_s <= 0.0F) { | |
1270 | gcode->is_error= true; | |
1271 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1272 | return false; | |
1273 | } | |
29e809e0 JM |
1274 | |
1275 | // Find out the distance for this move in XYZ in MCS | |
45ca77ec | 1276 | 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 | 1277 | |
374d0777 | 1278 | if(millimeters_of_travel < 0.00001F) { |
121094a5 JM |
1279 | // we have no movement in XYZ, probably E only extrude or retract |
1280 | return this->append_milestone(target, rate_mm_s); | |
29e809e0 JM |
1281 | } |
1282 | ||
1283 | /* | |
850d5f12 JM |
1284 | For extruders, we need to do some extra work to limit the volumetric rate if specified... |
1285 | 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 |
1286 | We ask Extruder to do all the work but we need to pass in the relevant data. |
1287 | NOTE we need to do this before we segment the line (for deltas) | |
29e809e0 JM |
1288 | */ |
1289 | if(!isnan(delta_e) && gcode->has_g && gcode->g == 1) { | |
1290 | float data[2]= {delta_e, rate_mm_s / millimeters_of_travel}; | |
d2adef5e | 1291 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
29e809e0 | 1292 | rate_mm_s *= data[1]; // adjust the feedrate |
d2adef5e JM |
1293 | } |
1294 | } | |
1295 | ||
c2f7c261 | 1296 | // 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 |
1297 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
1298 | // 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 | 1299 | uint16_t segments; |
5984acdf | 1300 | |
a3e1326a | 1301 | if(this->disable_segmentation || (!segment_z_moves && !gcode->has_letter('X') && !gcode->has_letter('Y'))) { |
778093ce JM |
1302 | segments= 1; |
1303 | ||
1304 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
1305 | // enabled if set to something > 1, it is set to 0.0 by default |
1306 | // segment based on current speed and requested segments per second | |
1307 | // the faster the travel speed the fewer segments needed | |
1308 | // NOTE rate is mm/sec and we take into account any speed override | |
29e809e0 | 1309 | float seconds = millimeters_of_travel / rate_mm_s; |
9502f9d5 | 1310 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 1311 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 1312 | |
4710532a JM |
1313 | } else { |
1314 | if(this->mm_per_line_segment == 0.0F) { | |
1315 | segments = 1; // don't split it up | |
1316 | } else { | |
29e809e0 | 1317 | segments = ceilf( millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
1318 | } |
1319 | } | |
5984acdf | 1320 | |
350c8a60 | 1321 | bool moved= false; |
4710532a | 1322 | if (segments > 1) { |
2ba859c9 | 1323 | // A vector to keep track of the endpoint of each segment |
29e809e0 JM |
1324 | float segment_delta[n_motors]; |
1325 | float segment_end[n_motors]; | |
45ca77ec | 1326 | memcpy(segment_end, machine_position, n_motors*sizeof(float)); |
2ba859c9 MM |
1327 | |
1328 | // How far do we move each segment? | |
29e809e0 | 1329 | for (int i = 0; i < n_motors; i++) |
45ca77ec | 1330 | segment_delta[i] = (target[i] - machine_position[i]) / segments; |
4cff3ded | 1331 | |
c8e0fb15 MM |
1332 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
1333 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 1334 | for (int i = 1; i < segments; i++) { |
350c8a60 | 1335 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
29e809e0 JM |
1336 | for (int i = 0; i < n_motors; i++) |
1337 | segment_end[i] += segment_delta[i]; | |
2ba859c9 MM |
1338 | |
1339 | // Append the end of this segment to the queue | |
121094a5 | 1340 | bool b= this->append_milestone(segment_end, rate_mm_s); |
350c8a60 | 1341 | moved= moved || b; |
2ba859c9 | 1342 | } |
4cff3ded | 1343 | } |
5984acdf MM |
1344 | |
1345 | // Append the end of this full move to the queue | |
121094a5 | 1346 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
2134bcf2 | 1347 | |
a6bbe768 | 1348 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 1349 | |
350c8a60 | 1350 | return moved; |
4cff3ded AW |
1351 | } |
1352 | ||
4cff3ded | 1353 | |
edac9072 | 1354 | // Append an arc to the queue ( cutting it into segments as needed ) |
850d5f12 | 1355 | // TODO does not support any E parameters so cannot be used for 3D printing. |
350c8a60 | 1356 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 1357 | { |
121094a5 JM |
1358 | float rate_mm_s= this->feed_rate / seconds_per_minute; |
1359 | // catch negative or zero feed rates and return the same error as GRBL does | |
1360 | if(rate_mm_s <= 0.0F) { | |
1361 | gcode->is_error= true; | |
1362 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1363 | return false; | |
1364 | } | |
aab6cbba | 1365 | |
edac9072 | 1366 | // Scary math |
45ca77ec JM |
1367 | float center_axis0 = this->machine_position[this->plane_axis_0] + offset[this->plane_axis_0]; |
1368 | float center_axis1 = this->machine_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
1369 | float linear_travel = target[this->plane_axis_2] - this->machine_position[this->plane_axis_2]; | |
1ad23cd3 MM |
1370 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
1371 | float r_axis1 = -offset[this->plane_axis_1]; | |
1372 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
1373 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 1374 | |
51871fb8 | 1375 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 1376 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
fb4c9d09 | 1377 | float angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
5fa0c173 | 1378 | if (is_clockwise) { // Correct atan2 output per direction |
29e809e0 | 1379 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= (2 * PI); } |
5fa0c173 | 1380 | } else { |
29e809e0 | 1381 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += (2 * PI); } |
4710532a | 1382 | } |
aab6cbba | 1383 | |
edac9072 | 1384 | // Find the distance for this gcode |
29e809e0 | 1385 | float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel)); |
436a2cd1 | 1386 | |
edac9072 | 1387 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
29e809e0 | 1388 | if( millimeters_of_travel < 0.00001F ) { |
350c8a60 | 1389 | return false; |
4710532a | 1390 | } |
5dcb2ff3 | 1391 | |
83c6e067 RA |
1392 | // limit segments by maximum arc error |
1393 | float arc_segment = this->mm_per_arc_segment; | |
4d0f60a9 | 1394 | if ((this->mm_max_arc_error > 0) && (2 * radius > this->mm_max_arc_error)) { |
83c6e067 RA |
1395 | float min_err_segment = 2 * sqrtf((this->mm_max_arc_error * (2 * radius - this->mm_max_arc_error))); |
1396 | if (this->mm_per_arc_segment < min_err_segment) { | |
1397 | arc_segment = min_err_segment; | |
1398 | } | |
1399 | } | |
5984acdf | 1400 | // Figure out how many segments for this gcode |
f8935932 | 1401 | // 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 |
29e809e0 | 1402 | uint16_t segments = ceilf(millimeters_of_travel / arc_segment); |
aab6cbba | 1403 | |
29e809e0 | 1404 | //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY |
4710532a JM |
1405 | float theta_per_segment = angular_travel / segments; |
1406 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
1407 | |
1408 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1409 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1410 | r_T = [cos(phi) -sin(phi); | |
1411 | sin(phi) cos(phi] * r ; | |
1412 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1413 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1414 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1415 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 1416 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
1417 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
1418 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1419 | ||
1420 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1421 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1422 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1423 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1424 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1425 | issue for CNC machines with the single precision Arduino calculations. | |
1426 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1427 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1428 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1429 | This is important when there are successive arc motions. | |
1430 | */ | |
1431 | // Vector rotation matrix values | |
4710532a | 1432 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 1433 | float sin_T = theta_per_segment; |
aab6cbba | 1434 | |
5acc50ad | 1435 | // TODO we need to handle the ABC axis here by segmenting them |
1ad23cd3 MM |
1436 | float arc_target[3]; |
1437 | float sin_Ti; | |
1438 | float cos_Ti; | |
1439 | float r_axisi; | |
aab6cbba AW |
1440 | uint16_t i; |
1441 | int8_t count = 0; | |
1442 | ||
1443 | // Initialize the linear axis | |
45ca77ec | 1444 | arc_target[this->plane_axis_2] = this->machine_position[this->plane_axis_2]; |
aab6cbba | 1445 | |
350c8a60 | 1446 | bool moved= false; |
4710532a | 1447 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
350c8a60 | 1448 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
aab6cbba | 1449 | |
b66fb830 | 1450 | if (count < this->arc_correction ) { |
4710532a JM |
1451 | // Apply vector rotation matrix |
1452 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1453 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1454 | r_axis1 = r_axisi; | |
1455 | count++; | |
aab6cbba | 1456 | } else { |
4710532a JM |
1457 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
1458 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1459 | cos_Ti = cosf(i * theta_per_segment); | |
1460 | sin_Ti = sinf(i * theta_per_segment); | |
1461 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1462 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1463 | count = 0; | |
aab6cbba AW |
1464 | } |
1465 | ||
1466 | // Update arc_target location | |
1467 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1468 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1469 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
1470 | |
1471 | // Append this segment to the queue | |
121094a5 | 1472 | bool b= this->append_milestone(arc_target, rate_mm_s); |
350c8a60 | 1473 | moved= moved || b; |
aab6cbba | 1474 | } |
edac9072 | 1475 | |
aab6cbba | 1476 | // Ensure last segment arrives at target location. |
121094a5 | 1477 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
350c8a60 JM |
1478 | |
1479 | return moved; | |
aab6cbba AW |
1480 | } |
1481 | ||
edac9072 | 1482 | // Do the math for an arc and add it to the queue |
29e809e0 | 1483 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode) |
4710532a | 1484 | { |
aab6cbba AW |
1485 | |
1486 | // Find the radius | |
13addf09 | 1487 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1488 | |
1489 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1490 | bool is_clockwise = false; | |
29e809e0 | 1491 | if( motion_mode == CW_ARC ) { |
4710532a JM |
1492 | is_clockwise = true; |
1493 | } | |
aab6cbba AW |
1494 | |
1495 | // Append arc | |
350c8a60 | 1496 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1497 | } |
1498 | ||
1499 | ||
4710532a JM |
1500 | float Robot::theta(float x, float y) |
1501 | { | |
1502 | float t = atanf(x / fabs(y)); | |
1503 | if (y > 0) { | |
1504 | return(t); | |
1505 | } else { | |
1506 | if (t > 0) { | |
29e809e0 | 1507 | return(PI - t); |
4710532a | 1508 | } else { |
29e809e0 | 1509 | return(-PI - t); |
4710532a JM |
1510 | } |
1511 | } | |
4cff3ded AW |
1512 | } |
1513 | ||
4710532a JM |
1514 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1515 | { | |
4cff3ded AW |
1516 | this->plane_axis_0 = axis_0; |
1517 | this->plane_axis_1 = axis_1; | |
1518 | this->plane_axis_2 = axis_2; | |
1519 | } | |
1520 | ||
fae93525 | 1521 | void Robot::clearToolOffset() |
4710532a | 1522 | { |
c2f7c261 | 1523 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1524 | } |
1525 | ||
1526 | void Robot::setToolOffset(const float offset[3]) | |
1527 | { | |
c2f7c261 | 1528 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1529 | } |
1530 | ||
0ec2f63a JM |
1531 | float Robot::get_feed_rate() const |
1532 | { | |
1533 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1534 | } |