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> | |
43 | using std::string; | |
38bf9a1c | 44 | |
78d0e16a MM |
45 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
46 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
47 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
48 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
49 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
83c6e067 | 50 | #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error") |
78d0e16a MM |
51 | #define arc_correction_checksum CHECKSUM("arc_correction") |
52 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
53 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
54 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
a3e1326a | 55 | #define segment_z_moves_checksum CHECKSUM("segment_z_moves") |
3aad33c7 | 56 | #define save_g92_checksum CHECKSUM("save_g92") |
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 | ||
29e809e0 JM |
88 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians) |
89 | #define PI 3.14159265358979323846F // force to be float, do not use M_PI | |
5fa0c173 | 90 | |
edac9072 AW |
91 | // 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 |
92 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
93 | ||
4710532a JM |
94 | Robot::Robot() |
95 | { | |
a1b7e9f0 | 96 | this->inch_mode = false; |
0e8b102e | 97 | this->absolute_mode = true; |
29e809e0 | 98 | this->e_absolute_mode = true; |
4cff3ded | 99 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
29e809e0 JM |
100 | memset(this->last_milestone, 0, sizeof last_milestone); |
101 | memset(this->last_machine_position, 0, sizeof last_machine_position); | |
0b804a41 | 102 | this->arm_solution = NULL; |
da947c62 | 103 | seconds_per_minute = 60.0F; |
fae93525 | 104 | this->clearToolOffset(); |
03b01bac | 105 | this->compensationTransform = nullptr; |
121094a5 | 106 | this->get_e_scale_fnc= nullptr; |
03b01bac JM |
107 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); |
108 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 109 | this->next_command_is_MCS = false; |
778093ce | 110 | this->disable_segmentation= false; |
29e809e0 | 111 | this->n_motors= 0; |
4cff3ded AW |
112 | } |
113 | ||
114 | //Called when the module has just been loaded | |
4710532a JM |
115 | void Robot::on_module_loaded() |
116 | { | |
4cff3ded AW |
117 | this->register_for_event(ON_GCODE_RECEIVED); |
118 | ||
119 | // Configuration | |
807b9b57 | 120 | this->load_config(); |
da24d6ae AW |
121 | } |
122 | ||
807b9b57 JM |
123 | #define ACTUATOR_CHECKSUMS(X) { \ |
124 | CHECKSUM(X "_step_pin"), \ | |
125 | CHECKSUM(X "_dir_pin"), \ | |
126 | CHECKSUM(X "_en_pin"), \ | |
127 | CHECKSUM(X "_steps_per_mm"), \ | |
29e809e0 JM |
128 | CHECKSUM(X "_max_rate"), \ |
129 | CHECKSUM(X "_acceleration") \ | |
807b9b57 | 130 | } |
5984acdf | 131 | |
807b9b57 JM |
132 | void Robot::load_config() |
133 | { | |
edac9072 AW |
134 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
135 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
136 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 137 | // Here we read the config to find out which arm solution to use |
0b804a41 | 138 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 139 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 140 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 141 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 142 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 143 | |
fff1e42d JJ |
144 | } else if(solution_checksum == corexz_checksum) { |
145 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
146 | ||
2a06c415 JM |
147 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
148 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 149 | |
4710532a | 150 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 151 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 152 | |
11a39396 JM |
153 | } else if(solution_checksum == rotary_delta_checksum) { |
154 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 155 | |
1217e470 QH |
156 | } else if(solution_checksum == morgan_checksum) { |
157 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
158 | ||
4710532a | 159 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 160 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 161 | |
4710532a | 162 | } else { |
314ab8f7 | 163 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 164 | } |
73a4e3c0 | 165 | |
6b661ab3 DP |
166 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
167 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
168 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
169 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
b259f517 | 170 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.0f)->as_number(); |
4d0f60a9 | 171 | this->mm_max_arc_error = THEKERNEL->config->value(mm_max_arc_error_checksum )->by_default( 0.01f)->as_number(); |
6b661ab3 | 172 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
78d0e16a | 173 | |
29e809e0 | 174 | // in mm/sec but specified in config as mm/min |
6b661ab3 DP |
175 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
176 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
177 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 178 | |
a3e1326a | 179 | this->segment_z_moves = THEKERNEL->config->value(segment_z_moves_checksum )->by_default(true)->as_bool(); |
3aad33c7 | 180 | this->save_g92 = THEKERNEL->config->value(save_g92_checksum )->by_default(false)->as_bool(); |
a3e1326a | 181 | |
37b7b898 | 182 | // Make our Primary XYZ StepperMotors, and potentially A B C |
29e809e0 JM |
183 | uint16_t const checksums[][6] = { |
184 | ACTUATOR_CHECKSUMS("alpha"), // X | |
185 | ACTUATOR_CHECKSUMS("beta"), // Y | |
186 | ACTUATOR_CHECKSUMS("gamma"), // Z | |
37b7b898 JM |
187 | #if MAX_ROBOT_ACTUATORS > 3 |
188 | ACTUATOR_CHECKSUMS("delta"), // A | |
189 | #if MAX_ROBOT_ACTUATORS > 4 | |
190 | ACTUATOR_CHECKSUMS("epsilon"), // B | |
191 | #if MAX_ROBOT_ACTUATORS > 5 | |
192 | ACTUATOR_CHECKSUMS("zeta") // C | |
193 | #endif | |
194 | #endif | |
195 | #endif | |
807b9b57 | 196 | }; |
807b9b57 | 197 | |
29e809e0 JM |
198 | // default acceleration setting, can be overriden with newer per axis settings |
199 | this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2 | |
200 | ||
201 | // make each motor | |
37b7b898 | 202 | for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) { |
807b9b57 JM |
203 | Pin pins[3]; //step, dir, enable |
204 | for (size_t i = 0; i < 3; i++) { | |
205 | pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output(); | |
96ef0809 JM |
206 | } |
207 | ||
208 | if(!pins[0].connected() || !pins[1].connected() || !pins[2].connected()) { | |
209 | if(a <= Z_AXIS) THEKERNEL->streams->printf("FATAL: motor %d is not defined in config\n", 'X'+a); | |
210 | break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order) | |
807b9b57 | 211 | } |
37b7b898 | 212 | |
29e809e0 JM |
213 | StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]); |
214 | // register this motor (NB This must be 0,1,2) of the actuators array | |
215 | uint8_t n= register_motor(sm); | |
216 | if(n != a) { | |
217 | // this is a fatal error | |
218 | THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a); | |
219 | __debugbreak(); | |
220 | } | |
78d0e16a | 221 | |
03b01bac | 222 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
3702f300 | 223 | 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 | 224 | actuators[a]->set_acceleration(THEKERNEL->config->value(checksums[a][5])->by_default(NAN)->as_number()); // mm/secs² |
807b9b57 | 225 | } |
a84f0186 | 226 | |
dd0a7cfa | 227 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 228 | |
29e809e0 JM |
229 | // if we have not specified a z acceleration see if the legacy config was set |
230 | if(isnan(actuators[Z_AXIS]->get_acceleration())) { | |
231 | float acc= THEKERNEL->config->value(z_acceleration_checksum)->by_default(NAN)->as_number(); // disabled by default | |
232 | if(!isnan(acc)) { | |
233 | actuators[Z_AXIS]->set_acceleration(acc); | |
234 | } | |
235 | } | |
236 | ||
975469ad MM |
237 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
238 | // so the first move can be correct if homing is not performed | |
807b9b57 | 239 | ActuatorCoordinates actuator_pos; |
975469ad | 240 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
29e809e0 | 241 | for (size_t i = 0; i < n_motors; i++) |
975469ad | 242 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
243 | |
244 | //this->clearToolOffset(); | |
4cff3ded AW |
245 | } |
246 | ||
29e809e0 JM |
247 | uint8_t Robot::register_motor(StepperMotor *motor) |
248 | { | |
249 | // register this motor with the step ticker | |
250 | THEKERNEL->step_ticker->register_motor(motor); | |
251 | if(n_motors >= k_max_actuators) { | |
252 | // this is a fatal error | |
253 | THEKERNEL->streams->printf("FATAL: too many motors, increase k_max_actuators\n"); | |
254 | __debugbreak(); | |
255 | } | |
2cd32d70 JM |
256 | actuators.push_back(motor); |
257 | return n_motors++; | |
29e809e0 JM |
258 | } |
259 | ||
212caccd JM |
260 | void Robot::push_state() |
261 | { | |
03b01bac | 262 | bool am = this->absolute_mode; |
29e809e0 | 263 | bool em = this->e_absolute_mode; |
03b01bac | 264 | bool im = this->inch_mode; |
29e809e0 | 265 | saved_state_t s(this->feed_rate, this->seek_rate, am, em, im, current_wcs); |
212caccd JM |
266 | state_stack.push(s); |
267 | } | |
268 | ||
269 | void Robot::pop_state() | |
270 | { | |
03b01bac JM |
271 | if(!state_stack.empty()) { |
272 | auto s = state_stack.top(); | |
212caccd | 273 | state_stack.pop(); |
03b01bac JM |
274 | this->feed_rate = std::get<0>(s); |
275 | this->seek_rate = std::get<1>(s); | |
276 | this->absolute_mode = std::get<2>(s); | |
29e809e0 JM |
277 | this->e_absolute_mode = std::get<3>(s); |
278 | this->inch_mode = std::get<4>(s); | |
279 | this->current_wcs = std::get<5>(s); | |
212caccd JM |
280 | } |
281 | } | |
282 | ||
34210908 JM |
283 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
284 | { | |
285 | std::vector<wcs_t> v; | |
0b8b81b6 | 286 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
287 | for(auto& i : wcs_offsets) { |
288 | v.push_back(i); | |
289 | } | |
290 | v.push_back(g92_offset); | |
291 | v.push_back(tool_offset); | |
292 | return v; | |
293 | } | |
294 | ||
e03f2747 | 295 | int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const |
2791c829 JM |
296 | { |
297 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
298 | // it returns the realtime position based on the current step position of the actuators. | |
299 | // this does require a FK to get a machine position from the actuator position | |
300 | // and then invert all the transforms to get a workspace position from machine position | |
a3be54e3 | 301 | // M114 just does it the old way uses last_milestone and does inversse transforms to get the requested position |
2791c829 | 302 | int n = 0; |
e03f2747 | 303 | if(subcode == 0) { // M114 print WCS |
2791c829 | 304 | wcs_t pos= mcs2wcs(last_milestone); |
31c6c2c2 | 305 | 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 | 306 | |
df4574e0 | 307 | } else if(subcode == 4) { // M114.4 print last milestone (which should be the same as machine position if axis are not moving and no level compensation) |
31c6c2c2 | 308 | n = snprintf(buf, bufsize, "LMS: X:%1.4f Y:%1.4f Z:%1.4f", last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); |
2791c829 | 309 | |
df4574e0 | 310 | } else if(subcode == 5) { // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) |
cf6b8fd1 | 311 | n = snprintf(buf, bufsize, "LMP: X:%1.4f Y:%1.4f Z:%1.4f", last_machine_position[X_AXIS], last_machine_position[Y_AXIS], last_machine_position[Z_AXIS]); |
2791c829 JM |
312 | |
313 | } else { | |
314 | // get real time positions | |
315 | // current actuator position in mm | |
316 | ActuatorCoordinates current_position{ | |
317 | actuators[X_AXIS]->get_current_position(), | |
318 | actuators[Y_AXIS]->get_current_position(), | |
319 | actuators[Z_AXIS]->get_current_position() | |
320 | }; | |
321 | ||
322 | // get machine position from the actuator position using FK | |
323 | float mpos[3]; | |
324 | arm_solution->actuator_to_cartesian(current_position, mpos); | |
325 | ||
e03f2747 | 326 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 JM |
327 | // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little) |
328 | wcs_t pos= mcs2wcs(mpos); | |
29e809e0 | 329 | n = snprintf(buf, bufsize, "WPOS: 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 | 330 | |
df4574e0 | 331 | } else if(subcode == 2) { // M114.2 print realtime Machine coordinate system |
31c6c2c2 | 332 | n = snprintf(buf, bufsize, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
2791c829 | 333 | |
df4574e0 | 334 | } else if(subcode == 3) { // M114.3 print realtime actuator position |
55783268 | 335 | 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 |
336 | } |
337 | } | |
96ef0809 JM |
338 | |
339 | #if MAX_ROBOT_ACTUATORS > 3 | |
340 | // deal with the ABC axis | |
341 | for (int i = A_AXIS; i < n_motors; ++i) { | |
342 | if(subcode == 4) { // M114.4 print last milestone | |
343 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, last_milestone[i]); | |
344 | ||
345 | }else if(subcode == 3) { // M114.3 print actuator position | |
346 | // current actuator position | |
347 | float current_position= actuators[i]->get_current_position(); | |
348 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, current_position); | |
349 | } | |
350 | } | |
351 | #endif | |
352 | ||
e03f2747 | 353 | return n; |
2791c829 JM |
354 | } |
355 | ||
dc27139b | 356 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 357 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
358 | { |
359 | return std::make_tuple( | |
31c6c2c2 JM |
360 | 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), |
361 | 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), | |
362 | 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 |
363 | ); |
364 | } | |
365 | ||
dd0a7cfa JM |
366 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
367 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
368 | void Robot::check_max_actuator_speeds() | |
369 | { | |
29e809e0 | 370 | for (size_t i = 0; i < n_motors; i++) { |
807b9b57 JM |
371 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
372 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
373 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
ad6a77d1 | 374 | 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 | 375 | } |
dd0a7cfa JM |
376 | } |
377 | } | |
378 | ||
4cff3ded | 379 | //A GCode has been received |
edac9072 | 380 | //See if the current Gcode line has some orders for us |
4710532a JM |
381 | void Robot::on_gcode_received(void *argument) |
382 | { | |
383 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 384 | |
29e809e0 | 385 | enum MOTION_MODE_T motion_mode= NONE; |
4cff3ded | 386 | |
4710532a JM |
387 | if( gcode->has_g) { |
388 | switch( gcode->g ) { | |
29e809e0 JM |
389 | case 0: motion_mode = SEEK; break; |
390 | case 1: motion_mode = LINEAR; break; | |
391 | case 2: motion_mode = CW_ARC; break; | |
392 | case 3: motion_mode = CCW_ARC; break; | |
c2f7c261 | 393 | case 4: { // G4 pause |
03b01bac | 394 | uint32_t delay_ms = 0; |
c3df978d | 395 | if (gcode->has_letter('P')) { |
03b01bac | 396 | delay_ms = gcode->get_int('P'); |
c3df978d JM |
397 | } |
398 | if (gcode->has_letter('S')) { | |
399 | delay_ms += gcode->get_int('S') * 1000; | |
400 | } | |
03b01bac | 401 | if (delay_ms > 0) { |
c3df978d | 402 | // drain queue |
04782655 | 403 | THEKERNEL->conveyor->wait_for_idle(); |
c3df978d | 404 | // wait for specified time |
03b01bac JM |
405 | uint32_t start = us_ticker_read(); // mbed call |
406 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 407 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 408 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
409 | } |
410 | } | |
adba2978 | 411 | } |
6b661ab3 | 412 | break; |
807b9b57 | 413 | |
a6bbe768 | 414 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 415 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
416 | size_t n = gcode->get_uint('P'); |
417 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 418 | else --n; |
0b8b81b6 | 419 | if(n < MAX_WCS) { |
807b9b57 | 420 | float x, y, z; |
03b01bac | 421 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 422 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 423 | // this makes the current machine position (less compensation transform) the offset |
dc27139b JM |
424 | // get current position in WCS |
425 | wcs_t pos= mcs2wcs(last_milestone); | |
426 | ||
427 | if(gcode->has_letter('X')){ | |
428 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
429 | } | |
430 | ||
431 | if(gcode->has_letter('Y')){ | |
432 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
433 | } | |
434 | if(gcode->has_letter('Z')) { | |
435 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
436 | } | |
437 | ||
a6bbe768 | 438 | } else { |
00e607c7 JM |
439 | // the value is the offset from machine zero |
440 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
441 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
442 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
443 | } | |
03b01bac | 444 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
445 | } |
446 | } | |
447 | break; | |
448 | ||
6e92ab91 JM |
449 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
450 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
451 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
452 | case 20: this->inch_mode = true; break; | |
453 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
454 | |
455 | case 54: case 55: case 56: case 57: case 58: case 59: | |
456 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 457 | current_wcs = gcode->g - 54; |
807b9b57 JM |
458 | if(gcode->g == 59 && gcode->subcode > 0) { |
459 | current_wcs += gcode->subcode; | |
0b8b81b6 | 460 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
461 | } |
462 | break; | |
463 | ||
29e809e0 JM |
464 | case 90: this->absolute_mode = true; this->e_absolute_mode = true; break; |
465 | case 91: this->absolute_mode = false; this->e_absolute_mode = false; break; | |
807b9b57 | 466 | |
0b804a41 | 467 | case 92: { |
a9e8c04b | 468 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
469 | // reset G92 offsets to 0 |
470 | g92_offset = wcs_t(0, 0, 0); | |
471 | ||
cee8bc1d JM |
472 | } else if(gcode->subcode == 3) { |
473 | // initialize G92 to the specified values, only used for saving it with M500 | |
474 | float x= 0, y= 0, z= 0; | |
475 | if(gcode->has_letter('X')) x= gcode->get_value('X'); | |
476 | if(gcode->has_letter('Y')) y= gcode->get_value('Y'); | |
477 | if(gcode->has_letter('Z')) z= gcode->get_value('Z'); | |
478 | g92_offset = wcs_t(x, y, z); | |
479 | ||
4710532a | 480 | } else { |
61a3fa99 | 481 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 482 | float x, y, z; |
03b01bac | 483 | std::tie(x, y, z) = g92_offset; |
61a3fa99 JM |
484 | // get current position in WCS |
485 | wcs_t pos= mcs2wcs(last_milestone); | |
486 | ||
487 | // adjust g92 offset to make the current wpos == the value requested | |
488 | if(gcode->has_letter('X')){ | |
489 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
490 | } | |
dc27139b JM |
491 | if(gcode->has_letter('Y')){ |
492 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
493 | } | |
494 | if(gcode->has_letter('Z')) { | |
495 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
496 | } | |
03b01bac | 497 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 498 | } |
a6bbe768 | 499 | |
13ad7234 JM |
500 | #if MAX_ROBOT_ACTUATORS > 3 |
501 | if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){ | |
502 | // reset the E position, legacy for 3d Printers to be reprap compatible | |
503 | // find the selected extruder | |
de2ee57c | 504 | // NOTE this will only work when E is 0 if volumetric and/or scaling is used as the actuator last milestone will be different if it was scaled |
13ad7234 JM |
505 | for (int i = E_AXIS; i < n_motors; ++i) { |
506 | if(actuators[i]->is_selected()) { | |
507 | float e= gcode->has_letter('E') ? gcode->get_value('E') : 0; | |
508 | last_milestone[i]= last_machine_position[i]= e; | |
509 | actuators[i]->change_last_milestone(e); | |
510 | break; | |
511 | } | |
512 | } | |
513 | } | |
514 | #endif | |
515 | ||
78d0e16a | 516 | return; |
4710532a JM |
517 | } |
518 | } | |
67a649dd | 519 | |
4710532a JM |
520 | } else if( gcode->has_m) { |
521 | switch( gcode->m ) { | |
20ed51b7 JM |
522 | // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold) |
523 | // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0); | |
524 | // break; | |
01a8d21a JM |
525 | |
526 | case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file) | |
527 | if(!THEKERNEL->is_grbl_mode()) break; | |
528 | // fall through to M2 | |
807b9b57 | 529 | case 2: // M2 end of program |
03b01bac JM |
530 | current_wcs = 0; |
531 | absolute_mode = true; | |
807b9b57 | 532 | break; |
9e6014a6 JM |
533 | case 17: |
534 | THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on | |
535 | break; | |
536 | ||
537 | case 18: // this used to support parameters, now it ignores them | |
538 | case 84: | |
04782655 | 539 | THEKERNEL->conveyor->wait_for_idle(); |
9e6014a6 JM |
540 | THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off |
541 | break; | |
807b9b57 | 542 | |
29e809e0 JM |
543 | case 82: e_absolute_mode= true; break; |
544 | case 83: e_absolute_mode= false; break; | |
545 | ||
0fb5b438 | 546 | case 92: // M92 - set steps per mm |
0fb5b438 | 547 | if (gcode->has_letter('X')) |
78d0e16a | 548 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 549 | if (gcode->has_letter('Y')) |
78d0e16a | 550 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 551 | if (gcode->has_letter('Z')) |
78d0e16a | 552 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
78d0e16a | 553 | |
ad6a77d1 | 554 | gcode->stream->printf("X:%f Y:%f Z:%f ", actuators[0]->get_steps_per_mm(), actuators[1]->get_steps_per_mm(), actuators[2]->get_steps_per_mm()); |
0fb5b438 | 555 | gcode->add_nl = true; |
dd0a7cfa | 556 | check_max_actuator_speeds(); |
0fb5b438 | 557 | return; |
562db364 | 558 | |
e03f2747 JM |
559 | case 114:{ |
560 | char buf[64]; | |
561 | int n= print_position(gcode->subcode, buf, sizeof buf); | |
562 | if(n > 0) gcode->txt_after_ok.append(buf, n); | |
2791c829 | 563 | return; |
e03f2747 | 564 | } |
33e4cc02 | 565 | |
212caccd JM |
566 | case 120: // push state |
567 | push_state(); | |
568 | break; | |
562db364 JM |
569 | |
570 | case 121: // pop state | |
212caccd | 571 | pop_state(); |
562db364 JM |
572 | break; |
573 | ||
125b71ce JM |
574 | case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates |
575 | if(gcode->get_num_args() == 0) { | |
576 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
55783268 | 577 | gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate()); |
125b71ce JM |
578 | } |
579 | gcode->add_nl = true; | |
dd0a7cfa | 580 | |
125b71ce JM |
581 | }else{ |
582 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
583 | if (gcode->has_letter('X' + i)) { | |
55783268 JM |
584 | float v= gcode->get_value('X'+i); |
585 | if(gcode->subcode == 0) this->max_speeds[i]= v; | |
586 | else if(gcode->subcode == 1) actuators[i]->set_max_rate(v); | |
125b71ce JM |
587 | } |
588 | } | |
3e1ea0e2 JM |
589 | |
590 | // this format is deprecated | |
591 | if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) { | |
592 | gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n"); | |
be7f67cd | 593 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
3e1ea0e2 JM |
594 | if (gcode->has_letter('A' + i)) { |
595 | float v= gcode->get_value('A'+i); | |
596 | actuators[i]->set_max_rate(v); | |
597 | } | |
598 | } | |
599 | } | |
600 | ||
55783268 | 601 | if(gcode->subcode == 1) check_max_actuator_speeds(); |
807b9b57 | 602 | } |
125b71ce | 603 | break; |
83488642 | 604 | |
29e809e0 | 605 | case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration |
4710532a | 606 | if (gcode->has_letter('S')) { |
4710532a | 607 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 608 | // enforce minimum |
29e809e0 JM |
609 | if (acc < 1.0F) acc = 1.0F; |
610 | this->default_acceleration = acc; | |
d4ee6ee2 | 611 | } |
29e809e0 JM |
612 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { |
613 | if (gcode->has_letter(i+'X')) { | |
614 | float acc = gcode->get_value(i+'X'); // mm/s^2 | |
615 | // enforce positive | |
616 | if (acc <= 0.0F) acc = NAN; | |
617 | actuators[i]->set_acceleration(acc); | |
618 | } | |
c5fe1787 | 619 | } |
d4ee6ee2 JM |
620 | break; |
621 | ||
125b71ce | 622 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed |
4710532a JM |
623 | if (gcode->has_letter('X')) { |
624 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 625 | // enforce minimum |
8b69c90d JM |
626 | if (jd < 0.0F) |
627 | jd = 0.0F; | |
4710532a | 628 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 629 | } |
107df03f JM |
630 | if (gcode->has_letter('Z')) { |
631 | float jd = gcode->get_value('Z'); | |
632 | // enforce minimum, -1 disables it and uses regular junction deviation | |
73a0eab6 JM |
633 | if (jd <= -1.0F) |
634 | jd = NAN; | |
107df03f JM |
635 | THEKERNEL->planner->z_junction_deviation = jd; |
636 | } | |
4710532a JM |
637 | if (gcode->has_letter('S')) { |
638 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
639 | // enforce minimum |
640 | if (mps < 0.0F) | |
641 | mps = 0.0F; | |
4710532a | 642 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 643 | } |
d4ee6ee2 | 644 | break; |
98761c28 | 645 | |
7369629d | 646 | case 220: // M220 - speed override percentage |
4710532a | 647 | if (gcode->has_letter('S')) { |
1ad23cd3 | 648 | float factor = gcode->get_value('S'); |
98761c28 | 649 | // enforce minimum 10% speed |
da947c62 MM |
650 | if (factor < 10.0F) |
651 | factor = 10.0F; | |
652 | // enforce maximum 10x speed | |
653 | if (factor > 1000.0F) | |
654 | factor = 1000.0F; | |
655 | ||
656 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 657 | } else { |
9ef9f45b | 658 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 659 | } |
b4f56013 | 660 | break; |
ec4773e5 | 661 | |
494dc541 | 662 | case 400: // wait until all moves are done up to this point |
04782655 | 663 | THEKERNEL->conveyor->wait_for_idle(); |
494dc541 JM |
664 | break; |
665 | ||
33e4cc02 | 666 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 667 | case 503: { // M503 just prints the settings |
ad6a77d1 | 668 | gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->get_steps_per_mm(), actuators[1]->get_steps_per_mm(), actuators[2]->get_steps_per_mm()); |
df56baf2 JM |
669 | |
670 | // only print XYZ if not NAN | |
671 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration); | |
672 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { | |
673 | if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", 'X'+i, actuators[i]->get_acceleration()); | |
674 | } | |
675 | gcode->stream->printf("\n"); | |
676 | ||
43fa8fd2 | 677 | 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 |
678 | |
679 | 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]); | |
680 | gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 X%1.5f Y%1.5f Z%1.5f\n", actuators[X_AXIS]->get_max_rate(), actuators[Y_AXIS]->get_max_rate(), actuators[Z_AXIS]->get_max_rate()); | |
b7cd847e JM |
681 | |
682 | // get or save any arm solution specific optional values | |
683 | BaseSolution::arm_options_t options; | |
684 | if(arm_solution->get_optional(options) && !options.empty()) { | |
685 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 686 | for(auto &i : options) { |
b7cd847e JM |
687 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
688 | } | |
689 | gcode->stream->printf("\n"); | |
690 | } | |
6e92ab91 | 691 | |
807b9b57 JM |
692 | // save wcs_offsets and current_wcs |
693 | // TODO this may need to be done whenever they change to be compliant | |
694 | gcode->stream->printf(";WCS settings\n"); | |
40fd5d98 | 695 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); |
03b01bac | 696 | int n = 1; |
807b9b57 | 697 | for(auto &i : wcs_offsets) { |
2791c829 | 698 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
699 | float x, y, z; |
700 | std::tie(x, y, z) = i; | |
40fd5d98 | 701 | 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 | 702 | } |
807b9b57 JM |
703 | ++n; |
704 | } | |
3aad33c7 JM |
705 | if(save_g92) { |
706 | // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility | |
707 | // 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 | |
708 | if(g92_offset != wcs_t(0, 0, 0)) { | |
709 | float x, y, z; | |
710 | std::tie(x, y, z) = g92_offset; | |
711 | gcode->stream->printf("G92.3 X%f Y%f Z%f\n", x, y, z); // sets G92 to the specified values | |
712 | } | |
67a649dd JM |
713 | } |
714 | } | |
807b9b57 | 715 | break; |
33e4cc02 | 716 | |
b7cd847e | 717 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 718 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 719 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
720 | options.erase('S'); // don't include the S |
721 | options.erase('U'); // don't include the U | |
722 | if(options.size() > 0) { | |
723 | // set the specified options | |
724 | arm_solution->set_optional(options); | |
725 | } | |
726 | options.clear(); | |
b7cd847e | 727 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 728 | // foreach optional value |
4710532a | 729 | for(auto &i : options) { |
b7cd847e JM |
730 | // print all current values of supported options |
731 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 732 | gcode->add_nl = true; |
ec4773e5 JM |
733 | } |
734 | } | |
ec4773e5 | 735 | |
4a839bea | 736 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 737 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
738 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
739 | ||
03b01bac | 740 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
741 | this->mm_per_line_segment = gcode->get_value('U'); |
742 | this->delta_segments_per_second = 0; | |
743 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 744 | } |
4a839bea | 745 | |
ec4773e5 | 746 | break; |
b7cd847e | 747 | } |
6989211c | 748 | } |
494dc541 JM |
749 | } |
750 | ||
29e809e0 JM |
751 | if( motion_mode != NONE) { |
752 | process_move(gcode, motion_mode); | |
00e607c7 | 753 | } |
6bc4a00a | 754 | |
c2f7c261 JM |
755 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
756 | } | |
350c8a60 | 757 | |
5d2319a9 | 758 | // process a G0/G1/G2/G3 |
29e809e0 | 759 | void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode) |
c2f7c261 | 760 | { |
2791c829 | 761 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
ad6a77d1 | 762 | // get XYZ and one E (which goes to the selected extruder) |
29e809e0 JM |
763 | float param[4]{NAN, NAN, NAN, NAN}; |
764 | ||
765 | // process primary axis | |
350c8a60 JM |
766 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
767 | char letter= 'X'+i; | |
768 | if( gcode->has_letter(letter) ) { | |
769 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
770 | } |
771 | } | |
6bc4a00a | 772 | |
c2f7c261 | 773 | float offset[3]{0,0,0}; |
4710532a JM |
774 | for(char letter = 'I'; letter <= 'K'; letter++) { |
775 | if( gcode->has_letter(letter) ) { | |
776 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
777 | } |
778 | } | |
00e607c7 | 779 | |
c2f7c261 | 780 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
29e809e0 JM |
781 | float target[n_motors]; |
782 | memcpy(target, last_milestone, n_motors*sizeof(float)); | |
783 | ||
350c8a60 JM |
784 | if(!next_command_is_MCS) { |
785 | if(this->absolute_mode) { | |
c2f7c261 JM |
786 | // apply wcs offsets and g92 offset and tool offset |
787 | if(!isnan(param[X_AXIS])) { | |
788 | 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); | |
789 | } | |
790 | ||
791 | if(!isnan(param[Y_AXIS])) { | |
792 | 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); | |
793 | } | |
794 | ||
795 | if(!isnan(param[Z_AXIS])) { | |
796 | 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); | |
797 | } | |
350c8a60 JM |
798 | |
799 | }else{ | |
800 | // they are deltas from the last_milestone if specified | |
801 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
c2f7c261 | 802 | if(!isnan(param[i])) target[i] = param[i] + last_milestone[i]; |
a6bbe768 JM |
803 | } |
804 | } | |
805 | ||
350c8a60 | 806 | }else{ |
c2f7c261 JM |
807 | // already in machine coordinates, we do not add tool offset for that |
808 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
809 | if(!isnan(param[i])) target[i] = param[i]; | |
810 | } | |
c2885de8 | 811 | } |
6bc4a00a | 812 | |
37b7b898 JM |
813 | float delta_e= NAN; |
814 | ||
815 | #if MAX_ROBOT_ACTUATORS > 3 | |
29e809e0 JM |
816 | // process extruder parameters, for active extruder only (only one active extruder at a time) |
817 | selected_extruder= 0; | |
818 | if(gcode->has_letter('E')) { | |
819 | for (int i = E_AXIS; i < n_motors; ++i) { | |
820 | // find first selected extruder | |
821 | if(actuators[i]->is_selected()) { | |
822 | param[E_AXIS]= gcode->get_value('E'); | |
823 | selected_extruder= i; | |
824 | break; | |
825 | } | |
826 | } | |
827 | } | |
828 | ||
829 | // do E for the selected extruder | |
29e809e0 JM |
830 | if(selected_extruder > 0 && !isnan(param[E_AXIS])) { |
831 | if(this->e_absolute_mode) { | |
832 | target[selected_extruder]= param[E_AXIS]; | |
833 | delta_e= target[selected_extruder] - last_milestone[selected_extruder]; | |
834 | }else{ | |
835 | delta_e= param[E_AXIS]; | |
836 | target[selected_extruder] = delta_e + last_milestone[selected_extruder]; | |
837 | } | |
838 | } | |
839 | ||
37b7b898 JM |
840 | // 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 |
841 | for (int i = A_AXIS; i < n_motors; ++i) { | |
842 | char letter= 'A'+i-A_AXIS; | |
843 | if(gcode->has_letter(letter)) { | |
844 | float p= gcode->get_value(letter); | |
845 | if(this->absolute_mode) { | |
846 | target[i]= p; | |
847 | }else{ | |
848 | target[i]= p + last_milestone[i]; | |
849 | } | |
850 | } | |
851 | } | |
852 | #endif | |
853 | ||
4710532a | 854 | if( gcode->has_letter('F') ) { |
29e809e0 | 855 | if( motion_mode == SEEK ) |
da947c62 | 856 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 857 | else |
da947c62 | 858 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 859 | } |
6bc4a00a | 860 | |
350c8a60 | 861 | bool moved= false; |
29e809e0 JM |
862 | |
863 | // Perform any physical actions | |
864 | switch(motion_mode) { | |
865 | case NONE: break; | |
866 | ||
867 | case SEEK: | |
868 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 869 | break; |
29e809e0 JM |
870 | |
871 | case LINEAR: | |
872 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 873 | break; |
29e809e0 JM |
874 | |
875 | case CW_ARC: | |
876 | case CCW_ARC: | |
374d0777 | 877 | // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3) |
29e809e0 | 878 | moved= this->compute_arc(gcode, offset, target, motion_mode); |
350c8a60 | 879 | break; |
4cff3ded | 880 | } |
13e4a3f9 | 881 | |
c2f7c261 JM |
882 | if(moved) { |
883 | // set last_milestone to the calculated target | |
df56baf2 | 884 | memcpy(last_milestone, target, n_motors*sizeof(float)); |
350c8a60 | 885 | } |
edac9072 AW |
886 | } |
887 | ||
a6bbe768 | 888 | // reset the machine position for all axis. Used for homing. |
be7f67cd | 889 | // During homing compensation is turned off |
f6934849 JM |
890 | // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled, |
891 | // so in those cases the final position is compensated. | |
cef9acea JM |
892 | void Robot::reset_axis_position(float x, float y, float z) |
893 | { | |
f6934849 | 894 | // these are set to the same as compensation was not used to get to the current position |
c2f7c261 JM |
895 | last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x; |
896 | last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y; | |
897 | last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z; | |
cef9acea | 898 | |
a6bbe768 | 899 | // now set the actuator positions to match |
807b9b57 | 900 | ActuatorCoordinates actuator_pos; |
c2f7c261 | 901 | arm_solution->cartesian_to_actuator(this->last_machine_position, actuator_pos); |
29e809e0 | 902 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
cef9acea JM |
903 | actuators[i]->change_last_milestone(actuator_pos[i]); |
904 | } | |
905 | ||
de2ee57c | 906 | // Reset the position for an axis (used in homing, and to reset extruder after suspend) |
4710532a JM |
907 | void Robot::reset_axis_position(float position, int axis) |
908 | { | |
c2f7c261 | 909 | last_milestone[axis] = position; |
de2ee57c JM |
910 | if(axis <= Z_AXIS) { |
911 | reset_axis_position(last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); | |
72420864 | 912 | #if MAX_ROBOT_ACTUATORS > 3 |
96ef0809 | 913 | }else if(axis < n_motors) { |
de2ee57c JM |
914 | // extruders need to be set not calculated |
915 | last_machine_position[axis]= position; | |
96ef0809 | 916 | actuators[axis]->change_last_milestone(position); |
72420864 | 917 | #endif |
de2ee57c | 918 | } |
4cff3ded AW |
919 | } |
920 | ||
932a3995 | 921 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
abf706e6 | 922 | // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp |
93f20a8c | 923 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) |
586cc733 | 924 | { |
29e809e0 | 925 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
93f20a8c | 926 | actuators[i]->change_last_milestone(ac[i]); |
586cc733 JM |
927 | |
928 | // now correct axis positions then recorrect actuator to account for rounding | |
929 | reset_position_from_current_actuator_position(); | |
930 | } | |
931 | ||
a6bbe768 | 932 | // Use FK to find out where actuator is and reset to match |
728477c4 JM |
933 | void Robot::reset_position_from_current_actuator_position() |
934 | { | |
807b9b57 | 935 | ActuatorCoordinates actuator_pos; |
29e809e0 | 936 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
58587001 | 937 | // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort |
807b9b57 JM |
938 | actuator_pos[i] = actuators[i]->get_current_position(); |
939 | } | |
58587001 JM |
940 | |
941 | // discover machine position from where actuators actually are | |
c2f7c261 JM |
942 | arm_solution->actuator_to_cartesian(actuator_pos, last_machine_position); |
943 | // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone | |
944 | memcpy(last_milestone, last_machine_position, sizeof last_milestone); | |
cf91d4f3 | 945 | |
58587001 JM |
946 | // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate. |
947 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call | |
932a3995 | 948 | // to get everything in perfect sync. |
7baae81a | 949 | arm_solution->cartesian_to_actuator(last_machine_position, actuator_pos); |
29e809e0 | 950 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
7baae81a | 951 | actuators[i]->change_last_milestone(actuator_pos[i]); |
728477c4 | 952 | } |
edac9072 | 953 | |
ad6a77d1 | 954 | // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner |
c2f7c261 JM |
955 | // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes |
956 | // all transforms and is what we actually convert to actuator positions | |
c1ebb1fe | 957 | bool Robot::append_milestone(const float target[], float rate_mm_s) |
df6a30f2 | 958 | { |
29e809e0 | 959 | float deltas[n_motors]; |
1a936198 | 960 | float transformed_target[n_motors]; // adjust target for bed compensation |
29e809e0 | 961 | float unit_vec[N_PRIMARY_AXIS]; |
df6a30f2 | 962 | |
3632a517 | 963 | // unity transform by default |
29e809e0 | 964 | memcpy(transformed_target, target, n_motors*sizeof(float)); |
5e45206a | 965 | |
350c8a60 | 966 | // check function pointer and call if set to transform the target to compensate for bed |
c1ebb1fe | 967 | if(compensationTransform) { |
350c8a60 JM |
968 | // some compensation strategies can transform XYZ, some just change Z |
969 | compensationTransform(transformed_target); | |
00e607c7 | 970 | } |
807b9b57 | 971 | |
29e809e0 | 972 | bool move= false; |
850b4eeb | 973 | float sos= 0; // sun of squares for just XYZ |
29e809e0 | 974 | |
a6bbe768 | 975 | // find distance moved by each axis, use transformed target from the current machine position |
ec45206d | 976 | for (size_t i = 0; i < n_motors; i++) { |
29e809e0 JM |
977 | deltas[i] = transformed_target[i] - last_machine_position[i]; |
978 | if(deltas[i] == 0) continue; | |
979 | // at least one non zero delta | |
980 | move = true; | |
121094a5 | 981 | if(i <= Z_AXIS) { |
29e809e0 | 982 | sos += powf(deltas[i], 2); |
121094a5 | 983 | } |
3632a517 | 984 | } |
aab6cbba | 985 | |
29e809e0 JM |
986 | // nothing moved |
987 | if(!move) return false; | |
988 | ||
850b4eeb JM |
989 | // see if this is a primary axis move or not |
990 | bool auxilliary_move= deltas[X_AXIS] == 0 && deltas[Y_AXIS] == 0 && deltas[Z_AXIS] == 0; | |
29e809e0 | 991 | |
850b4eeb JM |
992 | // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm |
993 | float distance= auxilliary_move ? 0 : sqrtf(sos); | |
df6a30f2 | 994 | |
a6bbe768 JM |
995 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
996 | // 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 | 997 | if(!auxilliary_move && distance < 0.00001F) return false; |
a6bbe768 | 998 | |
a6bbe768 | 999 | |
29e809e0 | 1000 | if(!auxilliary_move) { |
850b4eeb | 1001 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
14a90ad5 | 1002 | // find distance unit vector for primary axis only |
850b4eeb | 1003 | unit_vec[i] = deltas[i] / distance; |
df6a30f2 | 1004 | |
14a90ad5 JM |
1005 | // Do not move faster than the configured cartesian limits for XYZ |
1006 | if ( max_speeds[i] > 0 ) { | |
1007 | float axis_speed = fabsf(unit_vec[i] * rate_mm_s); | |
1008 | ||
1009 | if (axis_speed > max_speeds[i]) | |
1010 | rate_mm_s *= ( max_speeds[i] / axis_speed ); | |
2cd32d70 | 1011 | } |
7b470506 AW |
1012 | } |
1013 | } | |
4cff3ded | 1014 | |
c2f7c261 | 1015 | // find actuator position given the machine position, use actual adjusted target |
29e809e0 | 1016 | ActuatorCoordinates actuator_pos; |
850b4eeb | 1017 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); |
df6a30f2 | 1018 | |
13ad7234 | 1019 | #if MAX_ROBOT_ACTUATORS > 3 |
850b4eeb | 1020 | sos= 0; |
ad6a77d1 | 1021 | // for the extruders just copy the position, and possibly scale it from mm³ to mm |
374d0777 | 1022 | for (size_t i = E_AXIS; i < n_motors; i++) { |
850b4eeb | 1023 | actuator_pos[i]= transformed_target[i]; |
121094a5 | 1024 | if(get_e_scale_fnc) { |
29e809e0 JM |
1025 | // NOTE this relies on the fact only one extruder is active at a time |
1026 | // scale for volumetric or flow rate | |
1027 | // TODO is this correct? scaling the absolute target? what if the scale changes? | |
ec45206d | 1028 | // for volumetric it basically converts mm³ to mm, but what about flow rate? |
121094a5 | 1029 | actuator_pos[i] *= get_e_scale_fnc(); |
29e809e0 | 1030 | } |
850b4eeb JM |
1031 | if(auxilliary_move) { |
1032 | // for E only moves we need to use the scaled E to calculate the distance | |
1033 | sos += pow(actuator_pos[i] - actuators[i]->get_last_milestone(), 2); | |
1034 | } | |
1035 | } | |
1036 | if(auxilliary_move) { | |
850b4eeb | 1037 | distance= sqrtf(sos); // distance in mm of the e move |
1843a68f | 1038 | if(distance < 0.00001F) return false; |
29e809e0 JM |
1039 | } |
1040 | #endif | |
1041 | ||
1042 | // use default acceleration to start with | |
1043 | float acceleration = default_acceleration; | |
1044 | ||
850b4eeb | 1045 | float isecs = rate_mm_s / distance; |
29e809e0 | 1046 | |
df6a30f2 | 1047 | // check per-actuator speed limits |
29e809e0 JM |
1048 | for (size_t actuator = 0; actuator < n_motors; actuator++) { |
1049 | float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone()); | |
1050 | if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator | |
1051 | ||
1052 | float actuator_rate= d * isecs; | |
03b01bac | 1053 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 1054 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
850b4eeb | 1055 | isecs = rate_mm_s / distance; |
928467c0 | 1056 | } |
29e809e0 | 1057 | |
df56baf2 | 1058 | // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move |
14a90ad5 JM |
1059 | // 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. |
1060 | if(auxilliary_move || actuator <= Z_AXIS) { | |
df56baf2 JM |
1061 | float ma = actuators[actuator]->get_acceleration(); // in mm/sec² |
1062 | if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration | |
850b4eeb | 1063 | float ca = fabsf((d/distance) * acceleration); |
df56baf2 JM |
1064 | if (ca > ma) { |
1065 | acceleration *= ( ma / ca ); | |
1066 | } | |
29e809e0 | 1067 | } |
14a90ad5 | 1068 | } |
928467c0 JM |
1069 | } |
1070 | ||
edac9072 | 1071 | // Append the block to the planner |
850b4eeb | 1072 | // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move |
6f5d947f JM |
1073 | if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration )) { |
1074 | // this is the machine position | |
1075 | memcpy(this->last_machine_position, transformed_target, n_motors*sizeof(float)); | |
07879e05 | 1076 | return true; |
6f5d947f JM |
1077 | } |
1078 | ||
07879e05 JM |
1079 | // no actual move |
1080 | return false; | |
4cff3ded AW |
1081 | } |
1082 | ||
121094a5 JM |
1083 | // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc. |
1084 | bool Robot::delta_move(const float *delta, float rate_mm_s, uint8_t naxis) | |
c8bac202 JM |
1085 | { |
1086 | if(THEKERNEL->is_halted()) return false; | |
1087 | ||
121094a5 | 1088 | // catch negative or zero feed rates |
c8bac202 JM |
1089 | if(rate_mm_s <= 0.0F) { |
1090 | return false; | |
1091 | } | |
1092 | ||
121094a5 JM |
1093 | // get the absolute target position, default is current last_milestone |
1094 | float target[n_motors]; | |
1095 | memcpy(target, last_milestone, n_motors*sizeof(float)); | |
c8bac202 | 1096 | |
121094a5 JM |
1097 | // add in the deltas to get new target |
1098 | for (int i= 0; i < naxis; i++) { | |
1099 | target[i] += delta[i]; | |
c8bac202 | 1100 | } |
c8bac202 | 1101 | |
121094a5 | 1102 | // submit for planning and if moved update last_milestone |
c1ebb1fe | 1103 | if(append_milestone(target, rate_mm_s)) { |
121094a5 JM |
1104 | memcpy(last_milestone, target, n_motors*sizeof(float)); |
1105 | return true; | |
29e809e0 | 1106 | } |
c8bac202 | 1107 | |
121094a5 | 1108 | return false; |
c8bac202 JM |
1109 | } |
1110 | ||
edac9072 | 1111 | // Append a move to the queue ( cutting it into segments if needed ) |
29e809e0 | 1112 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s, float delta_e) |
4710532a | 1113 | { |
121094a5 JM |
1114 | // catch negative or zero feed rates and return the same error as GRBL does |
1115 | if(rate_mm_s <= 0.0F) { | |
1116 | gcode->is_error= true; | |
1117 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1118 | return false; | |
1119 | } | |
29e809e0 JM |
1120 | |
1121 | // Find out the distance for this move in XYZ in MCS | |
1122 | float millimeters_of_travel = sqrtf(powf( target[X_AXIS] - last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - last_milestone[Z_AXIS], 2 )); | |
1123 | ||
374d0777 | 1124 | if(millimeters_of_travel < 0.00001F) { |
121094a5 JM |
1125 | // we have no movement in XYZ, probably E only extrude or retract |
1126 | return this->append_milestone(target, rate_mm_s); | |
29e809e0 JM |
1127 | } |
1128 | ||
1129 | /* | |
374d0777 JM |
1130 | For extruders, we need to do some extra work... |
1131 | if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit. | |
1132 | Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm | |
1133 | We ask Extruder to do all the work but we need to pass in the relevant data. | |
1134 | NOTE we need to do this before we segment the line (for deltas) | |
1135 | This also sets any scaling due to flow rate and volumetric if a G1 | |
29e809e0 JM |
1136 | */ |
1137 | if(!isnan(delta_e) && gcode->has_g && gcode->g == 1) { | |
1138 | float data[2]= {delta_e, rate_mm_s / millimeters_of_travel}; | |
d2adef5e | 1139 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
29e809e0 | 1140 | rate_mm_s *= data[1]; // adjust the feedrate |
d2adef5e JM |
1141 | } |
1142 | } | |
1143 | ||
c2f7c261 | 1144 | // 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 |
1145 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
1146 | // 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 | 1147 | uint16_t segments; |
5984acdf | 1148 | |
a3e1326a | 1149 | if(this->disable_segmentation || (!segment_z_moves && !gcode->has_letter('X') && !gcode->has_letter('Y'))) { |
778093ce JM |
1150 | segments= 1; |
1151 | ||
1152 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
1153 | // enabled if set to something > 1, it is set to 0.0 by default |
1154 | // segment based on current speed and requested segments per second | |
1155 | // the faster the travel speed the fewer segments needed | |
1156 | // NOTE rate is mm/sec and we take into account any speed override | |
29e809e0 | 1157 | float seconds = millimeters_of_travel / rate_mm_s; |
9502f9d5 | 1158 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 1159 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 1160 | |
4710532a JM |
1161 | } else { |
1162 | if(this->mm_per_line_segment == 0.0F) { | |
1163 | segments = 1; // don't split it up | |
1164 | } else { | |
29e809e0 | 1165 | segments = ceilf( millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
1166 | } |
1167 | } | |
5984acdf | 1168 | |
350c8a60 | 1169 | bool moved= false; |
4710532a | 1170 | if (segments > 1) { |
2ba859c9 | 1171 | // A vector to keep track of the endpoint of each segment |
29e809e0 JM |
1172 | float segment_delta[n_motors]; |
1173 | float segment_end[n_motors]; | |
1174 | memcpy(segment_end, last_milestone, n_motors*sizeof(float)); | |
2ba859c9 MM |
1175 | |
1176 | // How far do we move each segment? | |
29e809e0 | 1177 | for (int i = 0; i < n_motors; i++) |
2791c829 | 1178 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 1179 | |
c8e0fb15 MM |
1180 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
1181 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 1182 | for (int i = 1; i < segments; i++) { |
350c8a60 | 1183 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
29e809e0 JM |
1184 | for (int i = 0; i < n_motors; i++) |
1185 | segment_end[i] += segment_delta[i]; | |
2ba859c9 MM |
1186 | |
1187 | // Append the end of this segment to the queue | |
121094a5 | 1188 | bool b= this->append_milestone(segment_end, rate_mm_s); |
350c8a60 | 1189 | moved= moved || b; |
2ba859c9 | 1190 | } |
4cff3ded | 1191 | } |
5984acdf MM |
1192 | |
1193 | // Append the end of this full move to the queue | |
121094a5 | 1194 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
2134bcf2 | 1195 | |
a6bbe768 | 1196 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 1197 | |
350c8a60 | 1198 | return moved; |
4cff3ded AW |
1199 | } |
1200 | ||
4cff3ded | 1201 | |
edac9072 | 1202 | // Append an arc to the queue ( cutting it into segments as needed ) |
350c8a60 | 1203 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 1204 | { |
121094a5 JM |
1205 | float rate_mm_s= this->feed_rate / seconds_per_minute; |
1206 | // catch negative or zero feed rates and return the same error as GRBL does | |
1207 | if(rate_mm_s <= 0.0F) { | |
1208 | gcode->is_error= true; | |
1209 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1210 | return false; | |
1211 | } | |
aab6cbba | 1212 | |
edac9072 | 1213 | // Scary math |
2ba859c9 MM |
1214 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
1215 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
1216 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
1217 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
1218 | float r_axis1 = -offset[this->plane_axis_1]; | |
1219 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
1220 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 1221 | |
51871fb8 | 1222 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 1223 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
fb4c9d09 | 1224 | float angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
5fa0c173 | 1225 | if (is_clockwise) { // Correct atan2 output per direction |
29e809e0 | 1226 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= (2 * PI); } |
5fa0c173 | 1227 | } else { |
29e809e0 | 1228 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += (2 * PI); } |
4710532a | 1229 | } |
aab6cbba | 1230 | |
edac9072 | 1231 | // Find the distance for this gcode |
29e809e0 | 1232 | float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel)); |
436a2cd1 | 1233 | |
edac9072 | 1234 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
29e809e0 | 1235 | if( millimeters_of_travel < 0.00001F ) { |
350c8a60 | 1236 | return false; |
4710532a | 1237 | } |
5dcb2ff3 | 1238 | |
83c6e067 RA |
1239 | // limit segments by maximum arc error |
1240 | float arc_segment = this->mm_per_arc_segment; | |
4d0f60a9 | 1241 | if ((this->mm_max_arc_error > 0) && (2 * radius > this->mm_max_arc_error)) { |
83c6e067 RA |
1242 | float min_err_segment = 2 * sqrtf((this->mm_max_arc_error * (2 * radius - this->mm_max_arc_error))); |
1243 | if (this->mm_per_arc_segment < min_err_segment) { | |
1244 | arc_segment = min_err_segment; | |
1245 | } | |
1246 | } | |
5984acdf | 1247 | // Figure out how many segments for this gcode |
29e809e0 | 1248 | uint16_t segments = ceilf(millimeters_of_travel / arc_segment); |
aab6cbba | 1249 | |
29e809e0 | 1250 | //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY |
4710532a JM |
1251 | float theta_per_segment = angular_travel / segments; |
1252 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
1253 | |
1254 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1255 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1256 | r_T = [cos(phi) -sin(phi); | |
1257 | sin(phi) cos(phi] * r ; | |
1258 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1259 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1260 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1261 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 1262 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
1263 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
1264 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1265 | ||
1266 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1267 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1268 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1269 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1270 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1271 | issue for CNC machines with the single precision Arduino calculations. | |
1272 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1273 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1274 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1275 | This is important when there are successive arc motions. | |
1276 | */ | |
1277 | // Vector rotation matrix values | |
4710532a | 1278 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 1279 | float sin_T = theta_per_segment; |
aab6cbba | 1280 | |
1ad23cd3 MM |
1281 | float arc_target[3]; |
1282 | float sin_Ti; | |
1283 | float cos_Ti; | |
1284 | float r_axisi; | |
aab6cbba AW |
1285 | uint16_t i; |
1286 | int8_t count = 0; | |
1287 | ||
1288 | // Initialize the linear axis | |
2ba859c9 | 1289 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 1290 | |
350c8a60 | 1291 | bool moved= false; |
4710532a | 1292 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
350c8a60 | 1293 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
aab6cbba | 1294 | |
b66fb830 | 1295 | if (count < this->arc_correction ) { |
4710532a JM |
1296 | // Apply vector rotation matrix |
1297 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1298 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1299 | r_axis1 = r_axisi; | |
1300 | count++; | |
aab6cbba | 1301 | } else { |
4710532a JM |
1302 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
1303 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1304 | cos_Ti = cosf(i * theta_per_segment); | |
1305 | sin_Ti = sinf(i * theta_per_segment); | |
1306 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1307 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1308 | count = 0; | |
aab6cbba AW |
1309 | } |
1310 | ||
1311 | // Update arc_target location | |
1312 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1313 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1314 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
1315 | |
1316 | // Append this segment to the queue | |
121094a5 | 1317 | bool b= this->append_milestone(arc_target, rate_mm_s); |
350c8a60 | 1318 | moved= moved || b; |
aab6cbba | 1319 | } |
edac9072 | 1320 | |
aab6cbba | 1321 | // Ensure last segment arrives at target location. |
121094a5 | 1322 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
350c8a60 JM |
1323 | |
1324 | return moved; | |
aab6cbba AW |
1325 | } |
1326 | ||
edac9072 | 1327 | // Do the math for an arc and add it to the queue |
29e809e0 | 1328 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode) |
4710532a | 1329 | { |
aab6cbba AW |
1330 | |
1331 | // Find the radius | |
13addf09 | 1332 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1333 | |
1334 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1335 | bool is_clockwise = false; | |
29e809e0 | 1336 | if( motion_mode == CW_ARC ) { |
4710532a JM |
1337 | is_clockwise = true; |
1338 | } | |
aab6cbba AW |
1339 | |
1340 | // Append arc | |
350c8a60 | 1341 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1342 | } |
1343 | ||
1344 | ||
4710532a JM |
1345 | float Robot::theta(float x, float y) |
1346 | { | |
1347 | float t = atanf(x / fabs(y)); | |
1348 | if (y > 0) { | |
1349 | return(t); | |
1350 | } else { | |
1351 | if (t > 0) { | |
29e809e0 | 1352 | return(PI - t); |
4710532a | 1353 | } else { |
29e809e0 | 1354 | return(-PI - t); |
4710532a JM |
1355 | } |
1356 | } | |
4cff3ded AW |
1357 | } |
1358 | ||
4710532a JM |
1359 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1360 | { | |
4cff3ded AW |
1361 | this->plane_axis_0 = axis_0; |
1362 | this->plane_axis_1 = axis_1; | |
1363 | this->plane_axis_2 = axis_2; | |
1364 | } | |
1365 | ||
fae93525 | 1366 | void Robot::clearToolOffset() |
4710532a | 1367 | { |
c2f7c261 | 1368 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1369 | } |
1370 | ||
1371 | void Robot::setToolOffset(const float offset[3]) | |
1372 | { | |
c2f7c261 | 1373 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1374 | } |
1375 | ||
0ec2f63a JM |
1376 | float Robot::get_feed_rate() const |
1377 | { | |
1378 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1379 | } |