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" | |
10 | #include <string> | |
11 | using std::string; | |
4cff3ded AW |
12 | #include <math.h> |
13 | #include "Planner.h" | |
3a4fa0c1 | 14 | #include "Player.h" |
4cff3ded AW |
15 | #include "Robot.h" |
16 | #include "libs/nuts_bolts.h" | |
feb204be AW |
17 | #include "libs/Pin.h" |
18 | #include "libs/StepperMotor.h" | |
4cff3ded AW |
19 | #include "../communication/utils/Gcode.h" |
20 | #include "arm_solutions/BaseSolution.h" | |
21 | #include "arm_solutions/CartesianSolution.h" | |
22 | ||
23 | Robot::Robot(){ | |
a1b7e9f0 | 24 | this->inch_mode = false; |
0e8b102e | 25 | this->absolute_mode = true; |
df27a6a3 | 26 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded AW |
27 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
28 | clear_vector(this->current_position); | |
df27a6a3 | 29 | clear_vector(this->last_milestone); |
4cff3ded AW |
30 | } |
31 | ||
32 | //Called when the module has just been loaded | |
33 | void Robot::on_module_loaded() { | |
34 | this->arm_solution = new CartesianSolution(this->kernel->config); | |
35 | this->register_for_event(ON_GCODE_RECEIVED); | |
36 | ||
37 | // Configuration | |
da24d6ae | 38 | this->on_config_reload(this); |
feb204be AW |
39 | |
40 | // Make our 3 StepperMotors | |
df27a6a3 MM |
41 | this->alpha_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(this->alpha_step_pin,this->alpha_dir_pin,this->alpha_en_pin) ); |
42 | this->beta_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(this->beta_step_pin, this->beta_dir_pin, this->beta_en_pin ) ); | |
43 | this->gamma_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(this->gamma_step_pin,this->gamma_dir_pin,this->gamma_en_pin) ); | |
feb204be | 44 | |
da24d6ae AW |
45 | } |
46 | ||
47 | void Robot::on_config_reload(void* argument){ | |
df27a6a3 | 48 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(100)->as_number()/60; |
b66fb830 AW |
49 | this->seek_rate = this->kernel->config->value(default_seek_rate_checksum )->by_default(100)->as_number()/60; |
50 | this->mm_per_line_segment = this->kernel->config->value(mm_per_line_segment_checksum)->by_default(0.1)->as_number(); | |
51 | this->mm_per_arc_segment = this->kernel->config->value(mm_per_arc_segment_checksum )->by_default(10 )->as_number(); | |
7b470506 AW |
52 | this->arc_correction = this->kernel->config->value(arc_correction_checksum )->by_default(5 )->as_number(); |
53 | this->max_speeds[X_AXIS] = this->kernel->config->value(x_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
54 | this->max_speeds[Y_AXIS] = this->kernel->config->value(y_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
55 | this->max_speeds[Z_AXIS] = this->kernel->config->value(z_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
feb204be AW |
56 | this->alpha_step_pin = this->kernel->config->value(alpha_step_pin_checksum )->by_default("1.21" )->as_pin()->as_output(); |
57 | this->beta_step_pin = this->kernel->config->value(beta_step_pin_checksum )->by_default("1.23" )->as_pin()->as_output(); | |
58 | this->gamma_step_pin = this->kernel->config->value(gamma_step_pin_checksum )->by_default("1.22!" )->as_pin()->as_output(); | |
59 | this->alpha_dir_pin = this->kernel->config->value(alpha_dir_pin_checksum )->by_default("1.18" )->as_pin()->as_output(); | |
60 | this->beta_dir_pin = this->kernel->config->value(beta_dir_pin_checksum )->by_default("1.20" )->as_pin()->as_output(); | |
61 | this->gamma_dir_pin = this->kernel->config->value(gamma_dir_pin_checksum )->by_default("1.19" )->as_pin()->as_output(); | |
62 | this->alpha_en_pin = this->kernel->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_pin()->as_output()->as_open_drain(); | |
63 | this->beta_en_pin = this->kernel->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_pin()->as_output()->as_open_drain(); | |
64 | this->gamma_en_pin = this->kernel->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_pin()->as_output()->as_open_drain(); | |
65 | ||
4cff3ded AW |
66 | } |
67 | ||
68 | //A GCode has been received | |
69 | void Robot::on_gcode_received(void * argument){ | |
70 | Gcode* gcode = static_cast<Gcode*>(argument); | |
df27a6a3 | 71 | gcode->call_on_gcode_execute_event_immediatly = false; |
436a2cd1 | 72 | gcode->on_gcode_execute_event_called = false; |
436a2cd1 | 73 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
3a4fa0c1 | 74 | if( this->kernel->player->queue.size() == 0 ){ |
436a2cd1 AW |
75 | gcode->call_on_gcode_execute_event_immediatly = true; |
76 | this->execute_gcode(gcode); | |
77 | if( gcode->on_gcode_execute_event_called == false ){ | |
df27a6a3 MM |
78 | //printf("GCODE A: %s \r\n", gcode->command.c_str() ); |
79 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
436a2cd1 AW |
80 | } |
81 | }else{ | |
3a4fa0c1 | 82 | Block* block = this->kernel->player->queue.get_ref( this->kernel->player->queue.size() - 1 ); |
436a2cd1 | 83 | this->execute_gcode(gcode); |
e0aa02f6 | 84 | block->append_gcode(gcode); |
436a2cd1 | 85 | } |
6bc4a00a | 86 | |
4cff3ded AW |
87 | } |
88 | ||
436a2cd1 | 89 | |
4cff3ded AW |
90 | //See if the current Gcode line has some orders for us |
91 | void Robot::execute_gcode(Gcode* gcode){ | |
6bc4a00a | 92 | |
4cff3ded AW |
93 | //Temp variables, constant properties are stored in the object |
94 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 95 | this->motion_mode = -1; |
4cff3ded AW |
96 | |
97 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly | |
98 | if( gcode->has_letter('G')){ | |
99 | switch( (int) gcode->get_value('G') ){ | |
100 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; | |
101 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
102 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
103 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
104 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; | |
105 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
106 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
107 | case 20:this->inch_mode = true; break; | |
108 | case 21:this->inch_mode = false; break; | |
109 | case 90:this->absolute_mode = true; break; | |
110 | case 91:this->absolute_mode = false; break; | |
6bc4a00a MM |
111 | case 92: { |
112 | if(gcode->get_num_args() == 0){ | |
113 | for (char letter = 'X'; letter <= 'Z'; letter++){ | |
114 | if ( gcode->has_letter(letter) ) | |
115 | this->last_milestone[letter-'X'] = this->to_millimeters(0.0); | |
eaf8a8a8 | 116 | } |
6bc4a00a MM |
117 | }else{ |
118 | for (char letter = 'X'; letter <= 'Z'; letter++){ | |
119 | if ( gcode->has_letter(letter) ) | |
120 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); | |
121 | } | |
122 | } | |
123 | memcpy(this->current_position, this->last_milestone, sizeof(double)*3); // current_position[] = last_milestone[]; | |
124 | this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); | |
125 | return; // TODO: Wait until queue empty | |
126 | } | |
127 | } | |
9a73896c BG |
128 | }else if( gcode->has_letter('M')){ |
129 | switch( (int) gcode->get_value('M') ){ | |
0fb5b438 MM |
130 | case 92: // M92 - set steps per mm |
131 | double steps[3]; | |
132 | this->arm_solution->get_steps_per_millimeter(steps); | |
133 | if (gcode->has_letter('X')) | |
134 | steps[0] = this->to_millimeters(gcode->get_value('X')); | |
135 | if (gcode->has_letter('Y')) | |
136 | steps[1] = this->to_millimeters(gcode->get_value('Y')); | |
137 | if (gcode->has_letter('Z')) | |
138 | steps[2] = this->to_millimeters(gcode->get_value('Z')); | |
139 | this->arm_solution->set_steps_per_millimeter(steps); | |
140 | // update current position in steps | |
141 | this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); | |
142 | gcode->stream->printf("X:%g Y:%g Z:%g ", steps[0], steps[1], steps[2]); | |
143 | gcode->add_nl = true; | |
144 | return; | |
145 | case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f\n", | |
9a73896c BG |
146 | this->current_position[0], |
147 | this->current_position[1], | |
148 | this->current_position[2]); | |
149 | return; | |
150 | } | |
c83887ea MM |
151 | } |
152 | if( this->motion_mode < 0) | |
153 | return; | |
6bc4a00a | 154 | |
4cff3ded AW |
155 | //Get parameters |
156 | double target[3], offset[3]; | |
df27a6a3 | 157 | clear_vector(target); clear_vector(offset); |
6bc4a00a | 158 | |
4cff3ded | 159 | memcpy(target, this->current_position, sizeof(target)); //default to last target |
6bc4a00a | 160 | |
df27a6a3 MM |
161 | for(char letter = 'I'; letter <= 'K'; letter++){ if( gcode->has_letter(letter) ){ offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); } } |
162 | for(char letter = 'X'; letter <= 'Z'; letter++){ if( gcode->has_letter(letter) ){ target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); } } | |
6bc4a00a | 163 | |
4cff3ded | 164 | if( gcode->has_letter('F') ){ if( this->motion_mode == MOTION_MODE_SEEK ){ this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60; }else{ this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60; } } |
6bc4a00a | 165 | |
4cff3ded AW |
166 | //Perform any physical actions |
167 | switch( next_action ){ | |
168 | case NEXT_ACTION_DEFAULT: | |
169 | switch(this->motion_mode){ | |
170 | case MOTION_MODE_CANCEL: break; | |
436a2cd1 AW |
171 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; |
172 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; | |
df27a6a3 | 173 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
4cff3ded AW |
174 | } |
175 | break; | |
176 | } | |
13e4a3f9 | 177 | |
4cff3ded AW |
178 | // As far as the parser is concerned, the position is now == target. In reality the |
179 | // motion control system might still be processing the action and the real tool position | |
180 | // in any intermediate location. | |
df27a6a3 | 181 | memcpy(this->current_position, target, sizeof(double)*3); // this->position[] = target[]; |
4cff3ded AW |
182 | |
183 | } | |
184 | ||
185 | // Convert target from millimeters to steps, and append this to the planner | |
186 | void Robot::append_milestone( double target[], double rate ){ | |
187 | int steps[3]; //Holds the result of the conversion | |
6bc4a00a | 188 | |
4cff3ded | 189 | this->arm_solution->millimeters_to_steps( target, steps ); |
6bc4a00a | 190 | |
aab6cbba AW |
191 | double deltas[3]; |
192 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];} | |
193 | ||
6bc4a00a | 194 | |
df27a6a3 | 195 | double millimeters_of_travel = sqrt( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
6bc4a00a | 196 | |
436a2cd1 AW |
197 | double duration = 0; |
198 | if( rate > 0 ){ duration = millimeters_of_travel / rate; } | |
7b470506 AW |
199 | |
200 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){ | |
df27a6a3 MM |
201 | if( this->max_speeds[axis] > 0 ){ |
202 | double axis_speed = ( fabs(deltas[axis]) / ( millimeters_of_travel / rate )) * 60; | |
203 | if( axis_speed > this->max_speeds[axis] ){ | |
204 | rate = rate * ( this->max_speeds[axis] / axis_speed ); | |
436a2cd1 | 205 | } |
7b470506 AW |
206 | } |
207 | } | |
4cff3ded | 208 | |
df27a6a3 | 209 | this->kernel->planner->append_block( steps, rate*60, millimeters_of_travel, deltas ); |
4cff3ded | 210 | |
df27a6a3 | 211 | memcpy(this->last_milestone, target, sizeof(double)*3); // this->last_milestone[] = target[]; |
4cff3ded AW |
212 | |
213 | } | |
214 | ||
436a2cd1 | 215 | void Robot::append_line(Gcode* gcode, double target[], double rate ){ |
4cff3ded | 216 | |
a1b7e9f0 | 217 | |
df27a6a3 | 218 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
4cff3ded | 219 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. |
df27a6a3 | 220 | gcode->millimeters_of_travel = sqrt( pow( target[X_AXIS]-this->current_position[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->current_position[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->current_position[Z_AXIS], 2 ) ); |
4cff3ded | 221 | |
436a2cd1 | 222 | if( gcode->call_on_gcode_execute_event_immediatly == true ){ |
df27a6a3 MM |
223 | //printf("GCODE B: %s \r\n", gcode->command.c_str() ); |
224 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
436a2cd1 AW |
225 | gcode->on_gcode_execute_event_called = true; |
226 | } | |
227 | ||
df27a6a3 | 228 | if (gcode->millimeters_of_travel == 0.0) { |
436a2cd1 | 229 | this->append_milestone(this->current_position, 0.0); |
df27a6a3 | 230 | return; |
436a2cd1 AW |
231 | } |
232 | ||
df27a6a3 | 233 | uint16_t segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); |
4cff3ded AW |
234 | // A vector to keep track of the endpoint of each segment |
235 | double temp_target[3]; | |
236 | //Initialize axes | |
df27a6a3 | 237 | memcpy( temp_target, this->current_position, sizeof(double)*3); // temp_target[] = this->current_position[]; |
4cff3ded AW |
238 | |
239 | //For each segment | |
240 | for( int i=0; i<segments-1; i++ ){ | |
df27a6a3 MM |
241 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } |
242 | this->append_milestone(temp_target, rate); | |
4cff3ded AW |
243 | } |
244 | this->append_milestone(target, rate); | |
245 | } | |
246 | ||
4cff3ded | 247 | |
436a2cd1 | 248 | void Robot::append_arc(Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise ){ |
aab6cbba AW |
249 | |
250 | double center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; | |
251 | double center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
252 | double linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; | |
253 | double r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location | |
254 | double r_axis1 = -offset[this->plane_axis_1]; | |
255 | double rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
256 | double rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
257 | ||
258 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
259 | double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); | |
260 | if (angular_travel < 0) { angular_travel += 2*M_PI; } | |
261 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
262 | ||
436a2cd1 AW |
263 | gcode->millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); |
264 | ||
265 | if( gcode->call_on_gcode_execute_event_immediatly == true ){ | |
df27a6a3 MM |
266 | //printf("GCODE C: %s \r\n", gcode->command.c_str() ); |
267 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
436a2cd1 AW |
268 | gcode->on_gcode_execute_event_called = true; |
269 | } | |
270 | ||
df27a6a3 | 271 | if (gcode->millimeters_of_travel == 0.0) { |
436a2cd1 | 272 | this->append_milestone(this->current_position, 0.0); |
df27a6a3 | 273 | return; |
436a2cd1 | 274 | } |
6bc4a00a | 275 | |
436a2cd1 | 276 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
aab6cbba AW |
277 | |
278 | double theta_per_segment = angular_travel/segments; | |
279 | double linear_per_segment = linear_travel/segments; | |
280 | ||
281 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
282 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
283 | r_T = [cos(phi) -sin(phi); | |
284 | sin(phi) cos(phi] * r ; | |
285 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
286 | defined from the circle center to the initial position. Each line segment is formed by successive | |
287 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
288 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
289 | all double numbers are single precision on the Arduino. (True double precision will not have | |
290 | round off issues for CNC applications.) Single precision error can accumulate to be greater than | |
291 | tool precision in some cases. Therefore, arc path correction is implemented. | |
292 | ||
293 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
294 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
295 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
296 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
297 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
298 | issue for CNC machines with the single precision Arduino calculations. | |
299 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
300 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
301 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
302 | This is important when there are successive arc motions. | |
303 | */ | |
304 | // Vector rotation matrix values | |
305 | double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation | |
306 | double sin_T = theta_per_segment; | |
307 | ||
308 | double arc_target[3]; | |
309 | double sin_Ti; | |
310 | double cos_Ti; | |
311 | double r_axisi; | |
312 | uint16_t i; | |
313 | int8_t count = 0; | |
314 | ||
315 | // Initialize the linear axis | |
316 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; | |
317 | ||
318 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
319 | ||
b66fb830 | 320 | if (count < this->arc_correction ) { |
aab6cbba AW |
321 | // Apply vector rotation matrix |
322 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
323 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
324 | r_axis1 = r_axisi; | |
325 | count++; | |
326 | } else { | |
327 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
328 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
329 | cos_Ti = cos(i*theta_per_segment); | |
330 | sin_Ti = sin(i*theta_per_segment); | |
331 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; | |
332 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
333 | count = 0; | |
334 | } | |
335 | ||
336 | // Update arc_target location | |
337 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
338 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
339 | arc_target[this->plane_axis_2] += linear_per_segment; | |
340 | this->append_milestone(arc_target, this->feed_rate); | |
341 | ||
342 | } | |
343 | // Ensure last segment arrives at target location. | |
344 | this->append_milestone(target, this->feed_rate); | |
345 | } | |
346 | ||
4cff3ded | 347 | |
436a2cd1 | 348 | void Robot::compute_arc(Gcode* gcode, double offset[], double target[]){ |
aab6cbba AW |
349 | |
350 | // Find the radius | |
351 | double radius = hypot(offset[this->plane_axis_0], offset[this->plane_axis_1]); | |
352 | ||
353 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
354 | bool is_clockwise = false; | |
df27a6a3 | 355 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
aab6cbba AW |
356 | |
357 | // Append arc | |
436a2cd1 | 358 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
359 | |
360 | } | |
361 | ||
362 | ||
4cff3ded AW |
363 | // Convert from inches to millimeters ( our internal storage unit ) if needed |
364 | inline double Robot::to_millimeters( double value ){ | |
df27a6a3 | 365 | return this->inch_mode ? value/25.4 : value; |
4cff3ded AW |
366 | } |
367 | ||
368 | double Robot::theta(double x, double y){ | |
369 | double t = atan(x/fabs(y)); | |
370 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} | |
371 | } | |
372 | ||
373 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
374 | this->plane_axis_0 = axis_0; | |
375 | this->plane_axis_1 = axis_1; | |
376 | this->plane_axis_2 = axis_2; | |
377 | } | |
378 | ||
379 |