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 MM |
10 | |
11 | #include <math.h> | |
4cff3ded AW |
12 | #include <string> |
13 | using std::string; | |
5673fe39 | 14 | |
4cff3ded | 15 | #include "Planner.h" |
3fceb8eb | 16 | #include "Conveyor.h" |
4cff3ded | 17 | #include "Robot.h" |
5673fe39 MM |
18 | #include "nuts_bolts.h" |
19 | #include "Pin.h" | |
20 | #include "StepperMotor.h" | |
21 | #include "Gcode.h" | |
5647f709 | 22 | #include "PublicDataRequest.h" |
66383b80 | 23 | #include "RobotPublicAccess.h" |
4cff3ded AW |
24 | #include "arm_solutions/BaseSolution.h" |
25 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 26 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 27 | #include "arm_solutions/LinearDeltaSolution.h" |
bdaaa75d | 28 | #include "arm_solutions/HBotSolution.h" |
1217e470 | 29 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 30 | #include "StepTicker.h" |
7af0714f JM |
31 | #include "checksumm.h" |
32 | #include "utils.h" | |
8d54c34c | 33 | #include "ConfigValue.h" |
5966b7d0 | 34 | #include "libs/StreamOutput.h" |
dd0a7cfa | 35 | #include "StreamOutputPool.h" |
38bf9a1c | 36 | |
78d0e16a MM |
37 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
38 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
39 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
40 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
41 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
42 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
43 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
44 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
45 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
46 | |
47 | // arm solutions | |
78d0e16a MM |
48 | #define arm_solution_checksum CHECKSUM("arm_solution") |
49 | #define cartesian_checksum CHECKSUM("cartesian") | |
50 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
51 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 52 | #define linear_delta_checksum CHECKSUM("linear_delta") |
78d0e16a MM |
53 | #define delta_checksum CHECKSUM("delta") |
54 | #define hbot_checksum CHECKSUM("hbot") | |
55 | #define corexy_checksum CHECKSUM("corexy") | |
56 | #define kossel_checksum CHECKSUM("kossel") | |
1217e470 | 57 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a MM |
58 | |
59 | // stepper motor stuff | |
60 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
61 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
62 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
63 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
64 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
65 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
66 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
67 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
68 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 69 | |
78d0e16a MM |
70 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
71 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
72 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
73 | ||
df6a30f2 MM |
74 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
75 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
76 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
77 | ||
78 | ||
78d0e16a MM |
79 | // new-style actuator stuff |
80 | #define actuator_checksum CHEKCSUM("actuator") | |
81 | ||
82 | #define step_pin_checksum CHECKSUM("step_pin") | |
83 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
84 | #define en_pin_checksum CHECKSUM("en_pin") | |
85 | ||
86 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 87 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
88 | |
89 | #define alpha_checksum CHECKSUM("alpha") | |
90 | #define beta_checksum CHECKSUM("beta") | |
91 | #define gamma_checksum CHECKSUM("gamma") | |
92 | ||
43424972 | 93 | |
38bf9a1c JM |
94 | #define NEXT_ACTION_DEFAULT 0 |
95 | #define NEXT_ACTION_DWELL 1 | |
96 | #define NEXT_ACTION_GO_HOME 2 | |
97 | ||
98 | #define MOTION_MODE_SEEK 0 // G0 | |
99 | #define MOTION_MODE_LINEAR 1 // G1 | |
100 | #define MOTION_MODE_CW_ARC 2 // G2 | |
101 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
102 | #define MOTION_MODE_CANCEL 4 // G80 | |
103 | ||
104 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
105 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
106 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
107 | ||
108 | #define PROGRAM_FLOW_RUNNING 0 | |
109 | #define PROGRAM_FLOW_PAUSED 1 | |
110 | #define PROGRAM_FLOW_COMPLETED 2 | |
111 | ||
112 | #define SPINDLE_DIRECTION_CW 0 | |
113 | #define SPINDLE_DIRECTION_CCW 1 | |
114 | ||
edac9072 AW |
115 | // 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 |
116 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
41fd89e0 | 117 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
edac9072 | 118 | |
4710532a JM |
119 | Robot::Robot() |
120 | { | |
a1b7e9f0 | 121 | this->inch_mode = false; |
0e8b102e | 122 | this->absolute_mode = true; |
df27a6a3 | 123 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 124 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 125 | clear_vector(this->last_milestone); |
3632a517 | 126 | clear_vector(this->transformed_last_milestone); |
0b804a41 | 127 | this->arm_solution = NULL; |
da947c62 | 128 | seconds_per_minute = 60.0F; |
fae93525 | 129 | this->clearToolOffset(); |
3632a517 | 130 | this->compensationTransform= nullptr; |
728477c4 | 131 | this->halted= false; |
4cff3ded AW |
132 | } |
133 | ||
134 | //Called when the module has just been loaded | |
4710532a JM |
135 | void Robot::on_module_loaded() |
136 | { | |
4cff3ded | 137 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
138 | this->register_for_event(ON_GET_PUBLIC_DATA); |
139 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
728477c4 | 140 | this->register_for_event(ON_HALT); |
4cff3ded AW |
141 | |
142 | // Configuration | |
da24d6ae AW |
143 | this->on_config_reload(this); |
144 | } | |
145 | ||
4710532a JM |
146 | void Robot::on_config_reload(void *argument) |
147 | { | |
5984acdf | 148 | |
edac9072 AW |
149 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
150 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
151 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 152 | // Here we read the config to find out which arm solution to use |
0b804a41 | 153 | if (this->arm_solution) delete this->arm_solution; |
314ab8f7 | 154 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 155 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 156 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 157 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 158 | |
2a06c415 JM |
159 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
160 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 161 | |
4710532a | 162 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 163 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 164 | |
1217e470 QH |
165 | } else if(solution_checksum == morgan_checksum) { |
166 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
167 | ||
4710532a | 168 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 169 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 170 | |
4710532a | 171 | } else { |
314ab8f7 | 172 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 173 | } |
73a4e3c0 | 174 | |
0b804a41 | 175 | |
da947c62 MM |
176 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
177 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
178 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
1ad23cd3 | 179 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); |
da947c62 MM |
180 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); |
181 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 182 | |
c9ed779d MM |
183 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
184 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
185 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 186 | |
78d0e16a MM |
187 | Pin alpha_step_pin; |
188 | Pin alpha_dir_pin; | |
189 | Pin alpha_en_pin; | |
190 | Pin beta_step_pin; | |
191 | Pin beta_dir_pin; | |
192 | Pin beta_en_pin; | |
193 | Pin gamma_step_pin; | |
194 | Pin gamma_dir_pin; | |
195 | Pin gamma_en_pin; | |
196 | ||
197 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); | |
198 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
199 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
200 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
9c5fa39a MM |
201 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
202 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
78d0e16a MM |
203 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
204 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
205 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 206 | |
a84f0186 MM |
207 | float steps_per_mm[3] = { |
208 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), | |
209 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
210 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
211 | }; | |
212 | ||
78d0e16a MM |
213 | // TODO: delete or detect old steppermotors |
214 | // Make our 3 StepperMotors | |
9c5fa39a MM |
215 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) ); |
216 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) ); | |
217 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) ); | |
78d0e16a | 218 | |
a84f0186 MM |
219 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
220 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
221 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
222 | ||
df6a30f2 MM |
223 | alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
224 | beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F; | |
225 | gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; | |
dd0a7cfa | 226 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 227 | |
78d0e16a MM |
228 | actuators.clear(); |
229 | actuators.push_back(alpha_stepper_motor); | |
230 | actuators.push_back(beta_stepper_motor); | |
231 | actuators.push_back(gamma_stepper_motor); | |
975469ad | 232 | |
dd0a7cfa | 233 | |
975469ad MM |
234 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
235 | // so the first move can be correct if homing is not performed | |
236 | float actuator_pos[3]; | |
237 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
238 | for (int i = 0; i < 3; i++) | |
239 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
5966b7d0 AT |
240 | |
241 | //this->clearToolOffset(); | |
4cff3ded AW |
242 | } |
243 | ||
dd0a7cfa JM |
244 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
245 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
246 | void Robot::check_max_actuator_speeds() | |
247 | { | |
248 | float step_freq= alpha_stepper_motor->max_rate * alpha_stepper_motor->get_steps_per_mm(); | |
249 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
250 | alpha_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / alpha_stepper_motor->get_steps_per_mm()); | |
251 | THEKERNEL->streams->printf("WARNING: alpha_max_rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", step_freq, alpha_stepper_motor->max_rate); | |
252 | } | |
253 | ||
254 | step_freq= beta_stepper_motor->max_rate * beta_stepper_motor->get_steps_per_mm(); | |
255 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
256 | beta_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / beta_stepper_motor->get_steps_per_mm()); | |
257 | THEKERNEL->streams->printf("WARNING: beta_max_rate exceeds base_stepping_frequency * beta_steps_per_mm: %f, setting to %f\n", step_freq, beta_stepper_motor->max_rate); | |
258 | } | |
259 | ||
260 | step_freq= gamma_stepper_motor->max_rate * gamma_stepper_motor->get_steps_per_mm(); | |
261 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
262 | gamma_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / gamma_stepper_motor->get_steps_per_mm()); | |
263 | THEKERNEL->streams->printf("WARNING: gamma_max_rate exceeds base_stepping_frequency * gamma_steps_per_mm: %f, setting to %f\n", step_freq, gamma_stepper_motor->max_rate); | |
264 | } | |
265 | } | |
266 | ||
728477c4 JM |
267 | void Robot::on_halt(void *arg) |
268 | { | |
269 | halted= (arg == nullptr); | |
270 | } | |
271 | ||
4710532a JM |
272 | void Robot::on_get_public_data(void *argument) |
273 | { | |
274 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
b55cfff1 JM |
275 | |
276 | if(!pdr->starts_with(robot_checksum)) return; | |
277 | ||
278 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 279 | static float return_data; |
da947c62 | 280 | return_data = 100.0F * 60.0F / seconds_per_minute; |
b55cfff1 JM |
281 | pdr->set_data_ptr(&return_data); |
282 | pdr->set_taken(); | |
98761c28 | 283 | |
4710532a | 284 | } else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 285 | static float return_data[3]; |
4710532a JM |
286 | return_data[0] = from_millimeters(this->last_milestone[0]); |
287 | return_data[1] = from_millimeters(this->last_milestone[1]); | |
288 | return_data[2] = from_millimeters(this->last_milestone[2]); | |
b55cfff1 JM |
289 | |
290 | pdr->set_data_ptr(&return_data); | |
98761c28 | 291 | pdr->set_taken(); |
b55cfff1 | 292 | } |
5647f709 JM |
293 | } |
294 | ||
4710532a JM |
295 | void Robot::on_set_public_data(void *argument) |
296 | { | |
297 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
5647f709 | 298 | |
b55cfff1 | 299 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 300 | |
b55cfff1 | 301 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 302 | // NOTE do not use this while printing! |
4710532a | 303 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
98761c28 | 304 | // enforce minimum 10% speed |
4710532a | 305 | if (t < 10.0F) t = 10.0F; |
98761c28 | 306 | |
da947c62 | 307 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
b55cfff1 | 308 | pdr->set_taken(); |
4710532a JM |
309 | } else if(pdr->second_element_is(current_position_checksum)) { |
310 | float *t = static_cast<float *>(pdr->get_data_ptr()); | |
311 | for (int i = 0; i < 3; i++) { | |
8adf2390 L |
312 | this->last_milestone[i] = this->to_millimeters(t[i]); |
313 | } | |
314 | ||
315 | float actuator_pos[3]; | |
316 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
317 | for (int i = 0; i < 3; i++) | |
318 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
319 | ||
320 | pdr->set_taken(); | |
321 | } | |
5647f709 JM |
322 | } |
323 | ||
4cff3ded | 324 | //A GCode has been received |
edac9072 | 325 | //See if the current Gcode line has some orders for us |
4710532a JM |
326 | void Robot::on_gcode_received(void *argument) |
327 | { | |
328 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 329 | |
23c90ba6 | 330 | this->motion_mode = -1; |
4cff3ded | 331 | |
4710532a JM |
332 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
333 | if( gcode->has_g) { | |
334 | switch( gcode->g ) { | |
74b6303c DD |
335 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
336 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
337 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
338 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
339 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; | |
340 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
341 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
342 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
343 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
344 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
345 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 346 | case 92: { |
4710532a | 347 | if(gcode->get_num_args() == 0) { |
cef9acea JM |
348 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { |
349 | reset_axis_position(0, i); | |
350 | } | |
351 | ||
4710532a JM |
352 | } else { |
353 | for (char letter = 'X'; letter <= 'Z'; letter++) { | |
cef9acea JM |
354 | if ( gcode->has_letter(letter) ) { |
355 | reset_axis_position(this->to_millimeters(gcode->get_value(letter)), letter - 'X'); | |
356 | } | |
eaf8a8a8 | 357 | } |
6bc4a00a | 358 | } |
78d0e16a | 359 | |
74b6303c | 360 | gcode->mark_as_taken(); |
78d0e16a | 361 | return; |
4710532a JM |
362 | } |
363 | } | |
364 | } else if( gcode->has_m) { | |
365 | switch( gcode->m ) { | |
0fb5b438 | 366 | case 92: // M92 - set steps per mm |
0fb5b438 | 367 | if (gcode->has_letter('X')) |
78d0e16a | 368 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 369 | if (gcode->has_letter('Y')) |
78d0e16a | 370 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 371 | if (gcode->has_letter('Z')) |
78d0e16a | 372 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
373 | if (gcode->has_letter('F')) |
374 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
375 | |
376 | gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm, seconds_per_minute); | |
0fb5b438 | 377 | gcode->add_nl = true; |
74b6303c | 378 | gcode->mark_as_taken(); |
dd0a7cfa | 379 | check_max_actuator_speeds(); |
0fb5b438 | 380 | return; |
4710532a JM |
381 | case 114: { |
382 | char buf[32]; | |
383 | int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f", | |
384 | from_millimeters(this->last_milestone[0]), | |
385 | from_millimeters(this->last_milestone[1]), | |
386 | from_millimeters(this->last_milestone[2])); | |
387 | gcode->txt_after_ok.append(buf, n); | |
388 | gcode->mark_as_taken(); | |
389 | } | |
390 | return; | |
33e4cc02 | 391 | |
83488642 JM |
392 | case 203: // M203 Set maximum feedrates in mm/sec |
393 | if (gcode->has_letter('X')) | |
4710532a | 394 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 395 | if (gcode->has_letter('Y')) |
4710532a | 396 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 397 | if (gcode->has_letter('Z')) |
4710532a | 398 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
83488642 | 399 | if (gcode->has_letter('A')) |
4710532a | 400 | alpha_stepper_motor->max_rate = gcode->get_value('A'); |
83488642 | 401 | if (gcode->has_letter('B')) |
4710532a | 402 | beta_stepper_motor->max_rate = gcode->get_value('B'); |
83488642 | 403 | if (gcode->has_letter('C')) |
4710532a | 404 | gamma_stepper_motor->max_rate = gcode->get_value('C'); |
83488642 | 405 | |
dd0a7cfa JM |
406 | check_max_actuator_speeds(); |
407 | ||
83488642 | 408 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", |
4710532a JM |
409 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
410 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
83488642 JM |
411 | gcode->add_nl = true; |
412 | gcode->mark_as_taken(); | |
413 | break; | |
414 | ||
c5fe1787 | 415 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
d4ee6ee2 | 416 | gcode->mark_as_taken(); |
83488642 | 417 | |
4710532a | 418 | if (gcode->has_letter('S')) { |
83488642 JM |
419 | // TODO for safety so it applies only to following gcodes, maybe a better way to do this? |
420 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
4710532a | 421 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 422 | // enforce minimum |
da947c62 MM |
423 | if (acc < 1.0F) |
424 | acc = 1.0F; | |
4710532a | 425 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 | 426 | } |
c5fe1787 JM |
427 | if (gcode->has_letter('Z')) { |
428 | // TODO for safety so it applies only to following gcodes, maybe a better way to do this? | |
429 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
430 | float acc = gcode->get_value('Z'); // mm/s^2 | |
431 | // enforce positive | |
432 | if (acc < 0.0F) | |
433 | acc = 0.0F; | |
434 | THEKERNEL->planner->z_acceleration = acc; | |
435 | } | |
d4ee6ee2 JM |
436 | break; |
437 | ||
8b69c90d | 438 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
d4ee6ee2 | 439 | gcode->mark_as_taken(); |
4710532a JM |
440 | if (gcode->has_letter('X')) { |
441 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 442 | // enforce minimum |
8b69c90d JM |
443 | if (jd < 0.0F) |
444 | jd = 0.0F; | |
4710532a | 445 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 446 | } |
4710532a JM |
447 | if (gcode->has_letter('S')) { |
448 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
449 | // enforce minimum |
450 | if (mps < 0.0F) | |
451 | mps = 0.0F; | |
4710532a | 452 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 453 | } |
d4ee6ee2 | 454 | break; |
98761c28 | 455 | |
7369629d | 456 | case 220: // M220 - speed override percentage |
74b6303c | 457 | gcode->mark_as_taken(); |
4710532a | 458 | if (gcode->has_letter('S')) { |
1ad23cd3 | 459 | float factor = gcode->get_value('S'); |
98761c28 | 460 | // enforce minimum 10% speed |
da947c62 MM |
461 | if (factor < 10.0F) |
462 | factor = 10.0F; | |
463 | // enforce maximum 10x speed | |
464 | if (factor > 1000.0F) | |
465 | factor = 1000.0F; | |
466 | ||
467 | seconds_per_minute = 6000.0F / factor; | |
7369629d | 468 | } |
b4f56013 | 469 | break; |
ec4773e5 | 470 | |
494dc541 JM |
471 | case 400: // wait until all moves are done up to this point |
472 | gcode->mark_as_taken(); | |
314ab8f7 | 473 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
474 | break; |
475 | ||
33e4cc02 | 476 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 477 | case 503: { // M503 just prints the settings |
78d0e16a | 478 | gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); |
c5fe1787 | 479 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
8b69c90d | 480 | gcode->stream->printf(";X- Junction Deviation, S - Minimum Planner speed:\nM205 X%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
83488642 | 481 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
4710532a JM |
482 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
483 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
b7cd847e JM |
484 | |
485 | // get or save any arm solution specific optional values | |
486 | BaseSolution::arm_options_t options; | |
487 | if(arm_solution->get_optional(options) && !options.empty()) { | |
488 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 489 | for(auto &i : options) { |
b7cd847e JM |
490 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
491 | } | |
492 | gcode->stream->printf("\n"); | |
493 | } | |
33e4cc02 JM |
494 | gcode->mark_as_taken(); |
495 | break; | |
b7cd847e | 496 | } |
33e4cc02 | 497 | |
b7cd847e | 498 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ec4773e5 | 499 | gcode->mark_as_taken(); |
b7cd847e JM |
500 | // the parameter args could be any letter except S so ask solution what options it supports |
501 | BaseSolution::arm_options_t options; | |
502 | if(arm_solution->get_optional(options)) { | |
4710532a | 503 | for(auto &i : options) { |
b7cd847e | 504 | // foreach optional value |
4710532a | 505 | char c = i.first; |
b7cd847e | 506 | if(gcode->has_letter(c)) { // set new value |
4710532a | 507 | i.second = gcode->get_value(c); |
b7cd847e JM |
508 | } |
509 | // print all current values of supported options | |
510 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 511 | gcode->add_nl = true; |
ec4773e5 | 512 | } |
b7cd847e JM |
513 | // set the new options |
514 | arm_solution->set_optional(options); | |
ec4773e5 | 515 | } |
ec4773e5 | 516 | |
b7cd847e | 517 | // set delta segments per second, not saved by M500 |
ec29d378 | 518 | if(gcode->has_letter('S')) { |
4710532a | 519 | this->delta_segments_per_second = gcode->get_value('S'); |
ec29d378 | 520 | } |
ec4773e5 | 521 | break; |
b7cd847e | 522 | } |
6989211c | 523 | } |
494dc541 JM |
524 | } |
525 | ||
c83887ea MM |
526 | if( this->motion_mode < 0) |
527 | return; | |
6bc4a00a | 528 | |
4710532a | 529 | //Get parameters |
1ad23cd3 | 530 | float target[3], offset[3]; |
c2885de8 | 531 | clear_vector(offset); |
6bc4a00a | 532 | |
2ba859c9 | 533 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
6bc4a00a | 534 | |
4710532a JM |
535 | for(char letter = 'I'; letter <= 'K'; letter++) { |
536 | if( gcode->has_letter(letter) ) { | |
537 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
538 | } |
539 | } | |
4710532a JM |
540 | for(char letter = 'X'; letter <= 'Z'; letter++) { |
541 | if( gcode->has_letter(letter) ) { | |
c7689006 | 542 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']); |
c2885de8 JM |
543 | } |
544 | } | |
6bc4a00a | 545 | |
4710532a | 546 | if( gcode->has_letter('F') ) { |
7369629d | 547 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 548 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 549 | else |
da947c62 | 550 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 551 | } |
6bc4a00a | 552 | |
4cff3ded | 553 | //Perform any physical actions |
fae93525 JM |
554 | switch(this->motion_mode) { |
555 | case MOTION_MODE_CANCEL: break; | |
556 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; | |
557 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
558 | case MOTION_MODE_CW_ARC: | |
559 | case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded | 560 | } |
13e4a3f9 | 561 | |
fae93525 | 562 | // last_milestone was set to target in append_milestone, no need to do it again |
4cff3ded | 563 | |
edac9072 AW |
564 | } |
565 | ||
5984acdf | 566 | // We received a new gcode, and one of the functions |
edac9072 AW |
567 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
568 | // and continue | |
4710532a JM |
569 | void Robot::distance_in_gcode_is_known(Gcode *gcode) |
570 | { | |
edac9072 | 571 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
e0ee24ed | 572 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
573 | } |
574 | ||
cef9acea JM |
575 | // reset the position for all axis (used in homing for delta as last_milestone may be bogus) |
576 | void Robot::reset_axis_position(float x, float y, float z) | |
577 | { | |
578 | this->last_milestone[X_AXIS] = x; | |
579 | this->last_milestone[Y_AXIS] = y; | |
580 | this->last_milestone[Z_AXIS] = z; | |
3632a517 JM |
581 | this->transformed_last_milestone[X_AXIS] = x; |
582 | this->transformed_last_milestone[Y_AXIS] = y; | |
583 | this->transformed_last_milestone[Z_AXIS] = z; | |
cef9acea JM |
584 | |
585 | float actuator_pos[3]; | |
586 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); | |
587 | for (int i = 0; i < 3; i++) | |
588 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
589 | } | |
590 | ||
591 | // Reset the position for an axis (used in homing and G92) | |
4710532a JM |
592 | void Robot::reset_axis_position(float position, int axis) |
593 | { | |
2ba859c9 | 594 | this->last_milestone[axis] = position; |
3632a517 | 595 | this->transformed_last_milestone[axis] = position; |
29c28822 MM |
596 | |
597 | float actuator_pos[3]; | |
cef9acea | 598 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); |
29c28822 MM |
599 | |
600 | for (int i = 0; i < 3; i++) | |
601 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
602 | } |
603 | ||
728477c4 JM |
604 | // Use FK to find out where actuator is and reset lastmilestone to match |
605 | // FIXME we need to know where the actual current actuator position is, this does not currently do that and so is useless | |
606 | void Robot::reset_position_from_current_actuator_position() | |
607 | { | |
608 | // FIXME do not want last_milestone we need actual actuator position | |
609 | // float actuator_pos[]= {actuators[X_AXIS]->get_current_position_mm(), actuators[Y_AXIS]->get_current_position_mm(), actuators[Z_AXIS]->get_current_position_mm()}; | |
610 | // arm_solution->actuator_to_cartesian(actuator_pos, this->last_milestone); | |
611 | } | |
edac9072 | 612 | |
4cff3ded | 613 | // Convert target from millimeters to steps, and append this to the planner |
da947c62 | 614 | void Robot::append_milestone( float target[], float rate_mm_s ) |
df6a30f2 | 615 | { |
1ad23cd3 | 616 | float deltas[3]; |
df6a30f2 MM |
617 | float unit_vec[3]; |
618 | float actuator_pos[3]; | |
3632a517 | 619 | float transformed_target[3]; // adjust target for bed compensation |
df6a30f2 MM |
620 | float millimeters_of_travel; |
621 | ||
3632a517 JM |
622 | // unity transform by default |
623 | memcpy(transformed_target, target, sizeof(transformed_target)); | |
5e45206a | 624 | |
3632a517 JM |
625 | // check function pointer and call if set to transform the target to compensate for bed |
626 | if(compensationTransform) { | |
627 | // some compensation strategies can transform XYZ, some just change Z | |
628 | compensationTransform(transformed_target); | |
33742399 | 629 | } |
ff7e9858 | 630 | |
3632a517 JM |
631 | // find distance moved by each axis, use transformed target from last_transformed_target |
632 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++){ | |
633 | deltas[axis] = transformed_target[axis] - transformed_last_milestone[axis]; | |
634 | } | |
635 | // store last transformed | |
636 | memcpy(this->transformed_last_milestone, transformed_target, sizeof(this->transformed_last_milestone)); | |
aab6cbba | 637 | |
edac9072 | 638 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 639 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 MM |
640 | |
641 | // find distance unit vector | |
642 | for (int i = 0; i < 3; i++) | |
643 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
644 | ||
645 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
646 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
647 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 648 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
649 | |
650 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 651 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
652 | } |
653 | } | |
4cff3ded | 654 | |
5e45206a | 655 | // find actuator position given cartesian position, use actual adjusted target |
3632a517 | 656 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); |
df6a30f2 MM |
657 | |
658 | // check per-actuator speed limits | |
4710532a | 659 | for (int actuator = 0; actuator <= 2; actuator++) { |
da947c62 | 660 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel; |
df6a30f2 MM |
661 | |
662 | if (actuator_rate > actuators[actuator]->max_rate) | |
da947c62 | 663 | rate_mm_s *= (actuators[actuator]->max_rate / actuator_rate); |
df6a30f2 MM |
664 | } |
665 | ||
edac9072 | 666 | // Append the block to the planner |
da947c62 | 667 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 668 | |
5e45206a | 669 | // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one |
c2885de8 | 670 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
671 | |
672 | } | |
673 | ||
edac9072 | 674 | // Append a move to the queue ( cutting it into segments if needed ) |
4710532a JM |
675 | void Robot::append_line(Gcode *gcode, float target[], float rate_mm_s ) |
676 | { | |
4cff3ded | 677 | |
edac9072 | 678 | // Find out the distance for this gcode |
869acfb8 | 679 | gcode->millimeters_of_travel = powf( target[X_AXIS] - this->last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - this->last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - this->last_milestone[Z_AXIS], 2 ); |
4cff3ded | 680 | |
edac9072 | 681 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
4710532a | 682 | if( gcode->millimeters_of_travel < 1e-8F ) { |
95b4885b JM |
683 | return; |
684 | } | |
436a2cd1 | 685 | |
2ba859c9 MM |
686 | gcode->millimeters_of_travel = sqrtf(gcode->millimeters_of_travel); |
687 | ||
edac9072 | 688 | // Mark the gcode as having a known distance |
5dcb2ff3 | 689 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 690 | |
4a0c8e14 JM |
691 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
692 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
693 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second 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 | 694 | uint16_t segments; |
5984acdf | 695 | |
c2885de8 | 696 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
697 | // enabled if set to something > 1, it is set to 0.0 by default |
698 | // segment based on current speed and requested segments per second | |
699 | // the faster the travel speed the fewer segments needed | |
700 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 701 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
4710532a | 702 | segments = max(1, ceil(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 703 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 704 | |
4710532a JM |
705 | } else { |
706 | if(this->mm_per_line_segment == 0.0F) { | |
707 | segments = 1; // don't split it up | |
708 | } else { | |
709 | segments = ceil( gcode->millimeters_of_travel / this->mm_per_line_segment); | |
4a0c8e14 JM |
710 | } |
711 | } | |
5984acdf | 712 | |
4710532a | 713 | if (segments > 1) { |
2ba859c9 MM |
714 | // A vector to keep track of the endpoint of each segment |
715 | float segment_delta[3]; | |
716 | float segment_end[3]; | |
717 | ||
718 | // How far do we move each segment? | |
9fff6045 | 719 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2ba859c9 | 720 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 721 | |
c8e0fb15 MM |
722 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
723 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 724 | for (int i = 1; i < segments; i++) { |
728477c4 | 725 | if(halted) return; // don;t queue any more segments |
4710532a | 726 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
2ba859c9 MM |
727 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
728 | ||
729 | // Append the end of this segment to the queue | |
730 | this->append_milestone(segment_end, rate_mm_s); | |
731 | } | |
4cff3ded | 732 | } |
5984acdf MM |
733 | |
734 | // Append the end of this full move to the queue | |
da947c62 | 735 | this->append_milestone(target, rate_mm_s); |
2134bcf2 MM |
736 | |
737 | // if adding these blocks didn't start executing, do that now | |
738 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
739 | } |
740 | ||
4cff3ded | 741 | |
edac9072 | 742 | // Append an arc to the queue ( cutting it into segments as needed ) |
4710532a JM |
743 | void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radius, bool is_clockwise ) |
744 | { | |
aab6cbba | 745 | |
edac9072 | 746 | // Scary math |
2ba859c9 MM |
747 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
748 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
749 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
750 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
751 | float r_axis1 = -offset[this->plane_axis_1]; | |
752 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
753 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba AW |
754 | |
755 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
4710532a JM |
756 | float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
757 | if (angular_travel < 0) { | |
758 | angular_travel += 2 * M_PI; | |
759 | } | |
760 | if (is_clockwise) { | |
761 | angular_travel -= 2 * M_PI; | |
762 | } | |
aab6cbba | 763 | |
edac9072 | 764 | // Find the distance for this gcode |
4710532a | 765 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 766 | |
edac9072 | 767 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
4710532a JM |
768 | if( gcode->millimeters_of_travel < 0.0001F ) { |
769 | return; | |
770 | } | |
5dcb2ff3 | 771 | |
edac9072 | 772 | // Mark the gcode as having a known distance |
d149c730 | 773 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
774 | |
775 | // Figure out how many segments for this gcode | |
4710532a | 776 | uint16_t segments = floor(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 777 | |
4710532a JM |
778 | float theta_per_segment = angular_travel / segments; |
779 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
780 | |
781 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
782 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
783 | r_T = [cos(phi) -sin(phi); | |
784 | sin(phi) cos(phi] * r ; | |
785 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
786 | defined from the circle center to the initial position. Each line segment is formed by successive | |
787 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
788 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 789 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
790 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
791 | tool precision in some cases. Therefore, arc path correction is implemented. | |
792 | ||
793 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
794 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
795 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
796 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
797 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
798 | issue for CNC machines with the single precision Arduino calculations. | |
799 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
800 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
801 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
802 | This is important when there are successive arc motions. | |
803 | */ | |
804 | // Vector rotation matrix values | |
4710532a | 805 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 806 | float sin_T = theta_per_segment; |
aab6cbba | 807 | |
1ad23cd3 MM |
808 | float arc_target[3]; |
809 | float sin_Ti; | |
810 | float cos_Ti; | |
811 | float r_axisi; | |
aab6cbba AW |
812 | uint16_t i; |
813 | int8_t count = 0; | |
814 | ||
815 | // Initialize the linear axis | |
2ba859c9 | 816 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 817 | |
4710532a | 818 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
728477c4 | 819 | if(halted) return; // don't queue any more segments |
aab6cbba | 820 | |
b66fb830 | 821 | if (count < this->arc_correction ) { |
4710532a JM |
822 | // Apply vector rotation matrix |
823 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
824 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
825 | r_axis1 = r_axisi; | |
826 | count++; | |
aab6cbba | 827 | } else { |
4710532a JM |
828 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
829 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
830 | cos_Ti = cosf(i * theta_per_segment); | |
831 | sin_Ti = sinf(i * theta_per_segment); | |
832 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
833 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
834 | count = 0; | |
aab6cbba AW |
835 | } |
836 | ||
837 | // Update arc_target location | |
838 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
839 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
840 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
841 | |
842 | // Append this segment to the queue | |
da947c62 | 843 | this->append_milestone(arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
844 | |
845 | } | |
edac9072 | 846 | |
aab6cbba | 847 | // Ensure last segment arrives at target location. |
da947c62 | 848 | this->append_milestone(target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
849 | } |
850 | ||
edac9072 | 851 | // Do the math for an arc and add it to the queue |
4710532a JM |
852 | void Robot::compute_arc(Gcode *gcode, float offset[], float target[]) |
853 | { | |
aab6cbba AW |
854 | |
855 | // Find the radius | |
13addf09 | 856 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
857 | |
858 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
859 | bool is_clockwise = false; | |
4710532a JM |
860 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
861 | is_clockwise = true; | |
862 | } | |
aab6cbba AW |
863 | |
864 | // Append arc | |
436a2cd1 | 865 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
866 | |
867 | } | |
868 | ||
869 | ||
4710532a JM |
870 | float Robot::theta(float x, float y) |
871 | { | |
872 | float t = atanf(x / fabs(y)); | |
873 | if (y > 0) { | |
874 | return(t); | |
875 | } else { | |
876 | if (t > 0) { | |
877 | return(M_PI - t); | |
878 | } else { | |
879 | return(-M_PI - t); | |
880 | } | |
881 | } | |
4cff3ded AW |
882 | } |
883 | ||
4710532a JM |
884 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
885 | { | |
4cff3ded AW |
886 | this->plane_axis_0 = axis_0; |
887 | this->plane_axis_1 = axis_1; | |
888 | this->plane_axis_2 = axis_2; | |
889 | } | |
890 | ||
fae93525 | 891 | void Robot::clearToolOffset() |
4710532a | 892 | { |
fae93525 JM |
893 | memset(this->toolOffset, 0, sizeof(this->toolOffset)); |
894 | } | |
895 | ||
896 | void Robot::setToolOffset(const float offset[3]) | |
897 | { | |
fae93525 | 898 | memcpy(this->toolOffset, offset, sizeof(this->toolOffset)); |
5966b7d0 AT |
899 | } |
900 |