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 | |
c3df978d JM |
11 | #include "mbed.h" // for us_ticker_read() |
12 | ||
5673fe39 | 13 | #include <math.h> |
4cff3ded AW |
14 | #include <string> |
15 | using std::string; | |
5673fe39 | 16 | |
4cff3ded | 17 | #include "Planner.h" |
3fceb8eb | 18 | #include "Conveyor.h" |
4cff3ded | 19 | #include "Robot.h" |
5673fe39 MM |
20 | #include "nuts_bolts.h" |
21 | #include "Pin.h" | |
22 | #include "StepperMotor.h" | |
23 | #include "Gcode.h" | |
5647f709 | 24 | #include "PublicDataRequest.h" |
928467c0 | 25 | #include "PublicData.h" |
4cff3ded AW |
26 | #include "arm_solutions/BaseSolution.h" |
27 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 28 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 29 | #include "arm_solutions/LinearDeltaSolution.h" |
c52b8675 | 30 | #include "arm_solutions/RotatableDeltaSolution.h" |
bdaaa75d | 31 | #include "arm_solutions/HBotSolution.h" |
fff1e42d | 32 | #include "arm_solutions/CoreXZSolution.h" |
1217e470 | 33 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 34 | #include "StepTicker.h" |
7af0714f JM |
35 | #include "checksumm.h" |
36 | #include "utils.h" | |
8d54c34c | 37 | #include "ConfigValue.h" |
5966b7d0 | 38 | #include "libs/StreamOutput.h" |
dd0a7cfa | 39 | #include "StreamOutputPool.h" |
928467c0 | 40 | #include "ExtruderPublicAccess.h" |
38bf9a1c | 41 | |
78d0e16a MM |
42 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
43 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
44 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
45 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
46 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
47 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
48 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
49 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
50 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
51 | |
52 | // arm solutions | |
78d0e16a MM |
53 | #define arm_solution_checksum CHECKSUM("arm_solution") |
54 | #define cartesian_checksum CHECKSUM("cartesian") | |
55 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
56 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 57 | #define linear_delta_checksum CHECKSUM("linear_delta") |
c52b8675 | 58 | #define rotatable_delta_checksum CHECKSUM("rotatable_delta") |
78d0e16a MM |
59 | #define delta_checksum CHECKSUM("delta") |
60 | #define hbot_checksum CHECKSUM("hbot") | |
61 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 62 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 63 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 64 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 65 | |
78d0e16a MM |
66 | // new-style actuator stuff |
67 | #define actuator_checksum CHEKCSUM("actuator") | |
68 | ||
69 | #define step_pin_checksum CHECKSUM("step_pin") | |
70 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
71 | #define en_pin_checksum CHECKSUM("en_pin") | |
72 | ||
73 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 74 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
75 | |
76 | #define alpha_checksum CHECKSUM("alpha") | |
77 | #define beta_checksum CHECKSUM("beta") | |
78 | #define gamma_checksum CHECKSUM("gamma") | |
79 | ||
38bf9a1c JM |
80 | #define NEXT_ACTION_DEFAULT 0 |
81 | #define NEXT_ACTION_DWELL 1 | |
82 | #define NEXT_ACTION_GO_HOME 2 | |
83 | ||
84 | #define MOTION_MODE_SEEK 0 // G0 | |
85 | #define MOTION_MODE_LINEAR 1 // G1 | |
86 | #define MOTION_MODE_CW_ARC 2 // G2 | |
87 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
88 | #define MOTION_MODE_CANCEL 4 // G80 | |
89 | ||
90 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
91 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
92 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
93 | ||
94 | #define PROGRAM_FLOW_RUNNING 0 | |
95 | #define PROGRAM_FLOW_PAUSED 1 | |
96 | #define PROGRAM_FLOW_COMPLETED 2 | |
97 | ||
98 | #define SPINDLE_DIRECTION_CW 0 | |
99 | #define SPINDLE_DIRECTION_CCW 1 | |
100 | ||
5fa0c173 PA |
101 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians) |
102 | ||
edac9072 AW |
103 | // The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue |
104 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
105 | ||
4710532a JM |
106 | Robot::Robot() |
107 | { | |
a1b7e9f0 | 108 | this->inch_mode = false; |
0e8b102e | 109 | this->absolute_mode = true; |
df27a6a3 | 110 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 111 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 112 | clear_vector(this->last_milestone); |
a6bbe768 | 113 | clear_vector(this->machine_position); |
0b804a41 | 114 | this->arm_solution = NULL; |
da947c62 | 115 | seconds_per_minute = 60.0F; |
fae93525 | 116 | this->clearToolOffset(); |
03b01bac JM |
117 | this->compensationTransform = nullptr; |
118 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); | |
119 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 120 | this->next_command_is_MCS = false; |
4cff3ded AW |
121 | } |
122 | ||
123 | //Called when the module has just been loaded | |
4710532a JM |
124 | void Robot::on_module_loaded() |
125 | { | |
4cff3ded AW |
126 | this->register_for_event(ON_GCODE_RECEIVED); |
127 | ||
128 | // Configuration | |
807b9b57 | 129 | this->load_config(); |
da24d6ae AW |
130 | } |
131 | ||
807b9b57 JM |
132 | #define ACTUATOR_CHECKSUMS(X) { \ |
133 | CHECKSUM(X "_step_pin"), \ | |
134 | CHECKSUM(X "_dir_pin"), \ | |
135 | CHECKSUM(X "_en_pin"), \ | |
136 | CHECKSUM(X "_steps_per_mm"), \ | |
137 | CHECKSUM(X "_max_rate") \ | |
138 | } | |
5984acdf | 139 | |
807b9b57 JM |
140 | void Robot::load_config() |
141 | { | |
edac9072 AW |
142 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
143 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
144 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 145 | // Here we read the config to find out which arm solution to use |
0b804a41 | 146 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 147 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 148 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 149 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 150 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 151 | |
fff1e42d JJ |
152 | } else if(solution_checksum == corexz_checksum) { |
153 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
154 | ||
2a06c415 JM |
155 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
156 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 157 | |
4710532a | 158 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 159 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 160 | |
c52b8675 DP |
161 | } else if(solution_checksum == rotatable_delta_checksum) { |
162 | this->arm_solution = new RotatableDeltaSolution(THEKERNEL->config); | |
163 | ||
1217e470 QH |
164 | } else if(solution_checksum == morgan_checksum) { |
165 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
166 | ||
4710532a | 167 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 168 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 169 | |
4710532a | 170 | } else { |
314ab8f7 | 171 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 172 | } |
73a4e3c0 | 173 | |
6b661ab3 DP |
174 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
175 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
176 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
177 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
178 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); | |
179 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 180 | |
6b661ab3 DP |
181 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
182 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
183 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 184 | |
78d0e16a | 185 | // Make our 3 StepperMotors |
807b9b57 JM |
186 | uint16_t const checksums[][5] = { |
187 | ACTUATOR_CHECKSUMS("alpha"), | |
188 | ACTUATOR_CHECKSUMS("beta"), | |
189 | ACTUATOR_CHECKSUMS("gamma"), | |
190 | #if MAX_ROBOT_ACTUATORS > 3 | |
191 | ACTUATOR_CHECKSUMS("delta"), | |
192 | ACTUATOR_CHECKSUMS("epsilon"), | |
193 | ACTUATOR_CHECKSUMS("zeta") | |
194 | #endif | |
195 | }; | |
03b01bac | 196 | constexpr size_t actuator_checksum_count = sizeof(checksums) / sizeof(checksums[0]); |
807b9b57 JM |
197 | static_assert(actuator_checksum_count >= k_max_actuators, "Robot checksum array too small for k_max_actuators"); |
198 | ||
199 | size_t motor_count = std::min(this->arm_solution->get_actuator_count(), k_max_actuators); | |
200 | for (size_t a = 0; a < motor_count; a++) { | |
201 | Pin pins[3]; //step, dir, enable | |
202 | for (size_t i = 0; i < 3; i++) { | |
203 | pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output(); | |
204 | } | |
03b01bac | 205 | actuators[a] = new StepperMotor(pins[0], pins[1], pins[2]); |
78d0e16a | 206 | |
03b01bac | 207 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
807b9b57 JM |
208 | actuators[a]->set_max_rate(THEKERNEL->config->value(checksums[a][4])->by_default(30000.0F)->as_number()); |
209 | } | |
a84f0186 | 210 | |
dd0a7cfa | 211 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 212 | |
975469ad MM |
213 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
214 | // so the first move can be correct if homing is not performed | |
807b9b57 | 215 | ActuatorCoordinates actuator_pos; |
975469ad | 216 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
807b9b57 | 217 | for (size_t i = 0; i < actuators.size(); i++) |
975469ad | 218 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
219 | |
220 | //this->clearToolOffset(); | |
4cff3ded AW |
221 | } |
222 | ||
212caccd JM |
223 | void Robot::push_state() |
224 | { | |
03b01bac JM |
225 | bool am = this->absolute_mode; |
226 | bool im = this->inch_mode; | |
a6bbe768 | 227 | saved_state_t s(this->feed_rate, this->seek_rate, am, im, current_wcs); |
212caccd JM |
228 | state_stack.push(s); |
229 | } | |
230 | ||
231 | void Robot::pop_state() | |
232 | { | |
03b01bac JM |
233 | if(!state_stack.empty()) { |
234 | auto s = state_stack.top(); | |
212caccd | 235 | state_stack.pop(); |
03b01bac JM |
236 | this->feed_rate = std::get<0>(s); |
237 | this->seek_rate = std::get<1>(s); | |
238 | this->absolute_mode = std::get<2>(s); | |
239 | this->inch_mode = std::get<3>(s); | |
a6bbe768 | 240 | this->current_wcs = std::get<4>(s); |
212caccd JM |
241 | } |
242 | } | |
243 | ||
dd0a7cfa JM |
244 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
245 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
246 | void Robot::check_max_actuator_speeds() | |
247 | { | |
807b9b57 JM |
248 | for (size_t i = 0; i < actuators.size(); i++) { |
249 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); | |
250 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
251 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
03b01bac | 252 | THEKERNEL->streams->printf("WARNING: actuator %c rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", 'A' + i, step_freq, actuators[i]->max_rate); |
807b9b57 | 253 | } |
dd0a7cfa JM |
254 | } |
255 | } | |
256 | ||
a6bbe768 JM |
257 | // converts current machine position to work coordinate system |
258 | Robot::wcs_t Robot::mcs2wcs() | |
259 | { | |
260 | // FIXME this will be incorrect if there is a compensation transform in effect | |
261 | return std::make_tuple( | |
262 | machine_position[X_AXIS] - (std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset)), | |
263 | machine_position[Y_AXIS] - (std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset)), | |
264 | machine_position[Z_AXIS] - (std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset))); | |
265 | } | |
266 | ||
4cff3ded | 267 | //A GCode has been received |
edac9072 | 268 | //See if the current Gcode line has some orders for us |
4710532a JM |
269 | void Robot::on_gcode_received(void *argument) |
270 | { | |
271 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 272 | |
23c90ba6 | 273 | this->motion_mode = -1; |
4cff3ded | 274 | |
4710532a JM |
275 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
276 | if( gcode->has_g) { | |
277 | switch( gcode->g ) { | |
6e92ab91 JM |
278 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; |
279 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
280 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
281 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
c3df978d | 282 | case 4: { |
03b01bac | 283 | uint32_t delay_ms = 0; |
c3df978d | 284 | if (gcode->has_letter('P')) { |
03b01bac | 285 | delay_ms = gcode->get_int('P'); |
c3df978d JM |
286 | } |
287 | if (gcode->has_letter('S')) { | |
288 | delay_ms += gcode->get_int('S') * 1000; | |
289 | } | |
03b01bac | 290 | if (delay_ms > 0) { |
c3df978d JM |
291 | // drain queue |
292 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
293 | // wait for specified time | |
03b01bac JM |
294 | uint32_t start = us_ticker_read(); // mbed call |
295 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d JM |
296 | THEKERNEL->call_event(ON_IDLE, this); |
297 | } | |
298 | } | |
adba2978 | 299 | } |
6b661ab3 | 300 | break; |
807b9b57 | 301 | |
a6bbe768 | 302 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 303 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
304 | size_t n = gcode->get_uint('P'); |
305 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 JM |
306 | else --n; |
307 | if(n < k_max_wcs) { | |
308 | float x, y, z; | |
03b01bac | 309 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 310 | if(gcode->get_int('L') == 20) { |
a6bbe768 JM |
311 | // this makes the current machine position the offset |
312 | if(gcode->has_letter('X')) { x = to_millimeters(gcode->get_value('X')) - machine_position[X_AXIS]; } | |
313 | if(gcode->has_letter('Y')) { x = to_millimeters(gcode->get_value('Y')) - machine_position[Y_AXIS]; } | |
314 | if(gcode->has_letter('Z')) { x = to_millimeters(gcode->get_value('Z')) - machine_position[Z_AXIS]; } | |
315 | } else { | |
00e607c7 JM |
316 | // the value is the offset from machine zero |
317 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
318 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
319 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
320 | } | |
03b01bac | 321 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
322 | } |
323 | } | |
324 | break; | |
325 | ||
6e92ab91 JM |
326 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
327 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
328 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
329 | case 20: this->inch_mode = true; break; | |
330 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
331 | |
332 | case 54: case 55: case 56: case 57: case 58: case 59: | |
333 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 334 | current_wcs = gcode->g - 54; |
807b9b57 JM |
335 | if(gcode->g == 59 && gcode->subcode > 0) { |
336 | current_wcs += gcode->subcode; | |
03b01bac | 337 | if(current_wcs >= k_max_wcs) current_wcs = k_max_wcs - 1; |
807b9b57 JM |
338 | } |
339 | break; | |
340 | ||
6e92ab91 JM |
341 | case 90: this->absolute_mode = true; break; |
342 | case 91: this->absolute_mode = false; break; | |
807b9b57 | 343 | |
0b804a41 | 344 | case 92: { |
a6bbe768 JM |
345 | wcs_t old = g92_offset; |
346 | ||
807b9b57 | 347 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
348 | // reset G92 offsets to 0 |
349 | g92_offset = wcs_t(0, 0, 0); | |
350 | ||
4710532a | 351 | } else { |
a6bbe768 | 352 | // standard setting of the g92 offsets, making current machine position whatever the coordinate arguments are |
807b9b57 | 353 | float x, y, z; |
03b01bac | 354 | std::tie(x, y, z) = g92_offset; |
a6bbe768 JM |
355 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')) - machine_position[X_AXIS]; |
356 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')) - machine_position[Y_AXIS]; | |
357 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')) - machine_position[Z_AXIS]; | |
03b01bac | 358 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 359 | } |
a6bbe768 JM |
360 | |
361 | if(old != g92_offset) { | |
362 | // as it changed we need to update the last_milestone to reflect the new coordinate system | |
363 | std::tie(this->last_milestone[X_AXIS], this->last_milestone[Y_AXIS], this->last_milestone[Z_AXIS]) = mcs2wcs(); | |
364 | } | |
78d0e16a | 365 | return; |
4710532a JM |
366 | } |
367 | } | |
67a649dd | 368 | |
4710532a JM |
369 | } else if( gcode->has_m) { |
370 | switch( gcode->m ) { | |
807b9b57 | 371 | case 2: // M2 end of program |
03b01bac JM |
372 | current_wcs = 0; |
373 | absolute_mode = true; | |
807b9b57 JM |
374 | break; |
375 | ||
0fb5b438 | 376 | case 92: // M92 - set steps per mm |
0fb5b438 | 377 | if (gcode->has_letter('X')) |
78d0e16a | 378 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 379 | if (gcode->has_letter('Y')) |
78d0e16a | 380 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 381 | if (gcode->has_letter('Z')) |
78d0e16a | 382 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
383 | if (gcode->has_letter('F')) |
384 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
385 | |
386 | gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm, seconds_per_minute); | |
0fb5b438 | 387 | gcode->add_nl = true; |
dd0a7cfa | 388 | check_max_actuator_speeds(); |
0fb5b438 | 389 | return; |
562db364 | 390 | |
4710532a | 391 | case 114: { |
a6bbe768 JM |
392 | // this is a new way to do this (similar to how GRBL does it). |
393 | // it returns the realtime position based on the current step position of the actuators. | |
394 | // this does require a FK to get a machine position from the actuator position | |
395 | // and then invert all the transforms to get a workspace position from machine position | |
58c32991 | 396 | char buf[64]; |
03b01bac | 397 | int n = 0; |
a6bbe768 JM |
398 | // current actuator position in mm |
399 | ActuatorCoordinates current_position{ | |
400 | actuators[X_AXIS]->get_current_position(), | |
401 | actuators[Y_AXIS]->get_current_position(), | |
402 | actuators[Z_AXIS]->get_current_position() | |
403 | }; | |
404 | ||
405 | // get machine position from the actuator position using FK | |
406 | float mpos[3]; | |
407 | arm_solution->actuator_to_cartesian(current_position, mpos); | |
408 | ||
807b9b57 | 409 | if(gcode->subcode == 0) { // M114 print WCS |
a6bbe768 JM |
410 | // Note this is workspace coordinates after any bed level compensation has been applied, currently there is no way to get |
411 | // the position we were asked for (although it should be last_milestone) without doing an inverse compensation, which is probably not a big deal. | |
807b9b57 | 412 | n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f", |
a6bbe768 JM |
413 | from_millimeters(mpos[X_AXIS] - (std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset))), |
414 | from_millimeters(mpos[Y_AXIS] - (std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset))), | |
415 | from_millimeters(mpos[Z_AXIS] - (std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset))) ); | |
416 | ||
807b9b57 | 417 | |
03b01bac | 418 | } else if(gcode->subcode == 1) { // M114.1 print Machine coordinate system |
a6bbe768 JM |
419 | n = snprintf(buf, sizeof(buf), "MPOS: X:%1.3f Y:%1.3f Z:%1.3f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
420 | ||
421 | } else if(gcode->subcode == 2) { // M114.2 print actuator position | |
422 | n = snprintf(buf, sizeof(buf), "APOS: A:%1.3f B:%1.3f C:%1.3f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); | |
423 | ||
424 | } else if(gcode->subcode == 3) { // M114.3 print last milestone (which should be the same as M114 if axis are not moving and no level compensation) | |
425 | n = snprintf(buf, sizeof(buf), "LM: X:%1.3f Y:%1.3f Z:%1.3f", last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); | |
426 | ||
427 | } else if(gcode->subcode == 4) { // M114.4 print last machins position (which should be the same as M114.1 if axis are not moving) | |
428 | n = snprintf(buf, sizeof(buf), "LMPOS: X:%1.3f Y:%1.3f Z:%1.3f", machine_position[X_AXIS], machine_position[Y_AXIS], machine_position[Z_AXIS]); | |
807b9b57 | 429 | } |
a6bbe768 | 430 | |
807b9b57 JM |
431 | if(n > 0) |
432 | gcode->txt_after_ok.append(buf, n); | |
4710532a JM |
433 | } |
434 | return; | |
33e4cc02 | 435 | |
212caccd JM |
436 | case 120: // push state |
437 | push_state(); | |
438 | break; | |
562db364 JM |
439 | |
440 | case 121: // pop state | |
212caccd | 441 | pop_state(); |
562db364 JM |
442 | break; |
443 | ||
83488642 JM |
444 | case 203: // M203 Set maximum feedrates in mm/sec |
445 | if (gcode->has_letter('X')) | |
4710532a | 446 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 447 | if (gcode->has_letter('Y')) |
4710532a | 448 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 449 | if (gcode->has_letter('Z')) |
4710532a | 450 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
807b9b57 JM |
451 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
452 | if (gcode->has_letter('A' + i)) | |
453 | actuators[i]->set_max_rate(gcode->get_value('A' + i)); | |
454 | } | |
dd0a7cfa JM |
455 | check_max_actuator_speeds(); |
456 | ||
928467c0 | 457 | if(gcode->get_num_args() == 0) { |
807b9b57 | 458 | gcode->stream->printf("X:%g Y:%g Z:%g", |
03b01bac | 459 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); |
807b9b57 JM |
460 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
461 | gcode->stream->printf(" %c : %g", 'A' + i, actuators[i]->get_max_rate()); //xxx | |
462 | } | |
928467c0 JM |
463 | gcode->add_nl = true; |
464 | } | |
83488642 JM |
465 | break; |
466 | ||
c5fe1787 | 467 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
4710532a | 468 | if (gcode->has_letter('S')) { |
4710532a | 469 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 470 | // enforce minimum |
da947c62 MM |
471 | if (acc < 1.0F) |
472 | acc = 1.0F; | |
4710532a | 473 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 | 474 | } |
c5fe1787 | 475 | if (gcode->has_letter('Z')) { |
c5fe1787 JM |
476 | float acc = gcode->get_value('Z'); // mm/s^2 |
477 | // enforce positive | |
478 | if (acc < 0.0F) | |
479 | acc = 0.0F; | |
480 | THEKERNEL->planner->z_acceleration = acc; | |
481 | } | |
d4ee6ee2 JM |
482 | break; |
483 | ||
9502f9d5 | 484 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate |
4710532a JM |
485 | if (gcode->has_letter('X')) { |
486 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 487 | // enforce minimum |
8b69c90d JM |
488 | if (jd < 0.0F) |
489 | jd = 0.0F; | |
4710532a | 490 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 491 | } |
107df03f JM |
492 | if (gcode->has_letter('Z')) { |
493 | float jd = gcode->get_value('Z'); | |
494 | // enforce minimum, -1 disables it and uses regular junction deviation | |
495 | if (jd < -1.0F) | |
496 | jd = -1.0F; | |
497 | THEKERNEL->planner->z_junction_deviation = jd; | |
498 | } | |
4710532a JM |
499 | if (gcode->has_letter('S')) { |
500 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
501 | // enforce minimum |
502 | if (mps < 0.0F) | |
503 | mps = 0.0F; | |
4710532a | 504 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 505 | } |
9502f9d5 | 506 | if (gcode->has_letter('Y')) { |
807b9b57 | 507 | actuators[0]->default_minimum_actuator_rate = gcode->get_value('Y'); |
9502f9d5 | 508 | } |
d4ee6ee2 | 509 | break; |
98761c28 | 510 | |
7369629d | 511 | case 220: // M220 - speed override percentage |
4710532a | 512 | if (gcode->has_letter('S')) { |
1ad23cd3 | 513 | float factor = gcode->get_value('S'); |
98761c28 | 514 | // enforce minimum 10% speed |
da947c62 MM |
515 | if (factor < 10.0F) |
516 | factor = 10.0F; | |
517 | // enforce maximum 10x speed | |
518 | if (factor > 1000.0F) | |
519 | factor = 1000.0F; | |
520 | ||
521 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 522 | } else { |
9ef9f45b | 523 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 524 | } |
b4f56013 | 525 | break; |
ec4773e5 | 526 | |
494dc541 | 527 | case 400: // wait until all moves are done up to this point |
314ab8f7 | 528 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
529 | break; |
530 | ||
33e4cc02 | 531 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 532 | case 503: { // M503 just prints the settings |
78d0e16a | 533 | gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); |
c5fe1787 | 534 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
c9cc5e06 | 535 | 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, THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
807b9b57 JM |
536 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f", |
537 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); | |
03b01bac | 538 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
807b9b57 JM |
539 | gcode->stream->printf(" %c%1.5f", 'A' + i, actuators[i]->get_max_rate()); |
540 | } | |
541 | gcode->stream->printf("\n"); | |
b7cd847e JM |
542 | |
543 | // get or save any arm solution specific optional values | |
544 | BaseSolution::arm_options_t options; | |
545 | if(arm_solution->get_optional(options) && !options.empty()) { | |
546 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 547 | for(auto &i : options) { |
b7cd847e JM |
548 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
549 | } | |
550 | gcode->stream->printf("\n"); | |
551 | } | |
6e92ab91 | 552 | |
807b9b57 JM |
553 | // save wcs_offsets and current_wcs |
554 | // TODO this may need to be done whenever they change to be compliant | |
555 | gcode->stream->printf(";WCS settings\n"); | |
556 | gcode->stream->printf("G5%c", std::min(current_wcs, (uint8_t)(5 + '4'))); | |
557 | if(current_wcs >= 6) { | |
03b01bac JM |
558 | gcode->stream->printf(".%c\n", '1' + (current_wcs - 5)); |
559 | } else { | |
807b9b57 JM |
560 | gcode->stream->printf("\n"); |
561 | } | |
03b01bac | 562 | int n = 1; |
807b9b57 | 563 | for(auto &i : wcs_offsets) { |
03b01bac | 564 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
565 | float x, y, z; |
566 | std::tie(x, y, z) = i; | |
567 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f\n", n, x, y, z); | |
568 | } | |
569 | ++n; | |
570 | } | |
b7cd847e | 571 | } |
67a649dd JM |
572 | |
573 | if(gcode->m == 503) { | |
574 | // just print the G92 setting as it is not saved | |
03b01bac | 575 | if(g92_offset != wcs_t(0, 0, 0)) { |
67a649dd JM |
576 | float x, y, z; |
577 | std::tie(x, y, z) = g92_offset; | |
578 | gcode->stream->printf("G92 X%f Y%f Z%f ; NOT SAVED\n", x, y, z); | |
579 | } | |
580 | } | |
807b9b57 | 581 | break; |
33e4cc02 | 582 | |
b7cd847e | 583 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 584 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 585 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
586 | options.erase('S'); // don't include the S |
587 | options.erase('U'); // don't include the U | |
588 | if(options.size() > 0) { | |
589 | // set the specified options | |
590 | arm_solution->set_optional(options); | |
591 | } | |
592 | options.clear(); | |
b7cd847e | 593 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 594 | // foreach optional value |
4710532a | 595 | for(auto &i : options) { |
b7cd847e JM |
596 | // print all current values of supported options |
597 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 598 | gcode->add_nl = true; |
ec4773e5 JM |
599 | } |
600 | } | |
ec4773e5 | 601 | |
4a839bea | 602 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 603 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
604 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
605 | ||
03b01bac | 606 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
607 | this->mm_per_line_segment = gcode->get_value('U'); |
608 | this->delta_segments_per_second = 0; | |
609 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 610 | } |
4a839bea | 611 | |
ec4773e5 | 612 | break; |
b7cd847e | 613 | } |
6989211c | 614 | } |
494dc541 JM |
615 | } |
616 | ||
00e607c7 | 617 | if( this->motion_mode < 0) { |
a6bbe768 | 618 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
c83887ea | 619 | return; |
00e607c7 | 620 | } |
6bc4a00a | 621 | |
00e607c7 | 622 | // Get parameters |
1ad23cd3 | 623 | float target[3], offset[3]; |
6bc4a00a | 624 | |
00e607c7 | 625 | clear_vector(offset); |
4710532a JM |
626 | for(char letter = 'I'; letter <= 'K'; letter++) { |
627 | if( gcode->has_letter(letter) ) { | |
628 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
629 | } |
630 | } | |
00e607c7 | 631 | |
a6bbe768 JM |
632 | if(next_command_is_MCS) { |
633 | // we are getting different coordinates here MCS instead of WCS | |
634 | memcpy(target, this->machine_position, sizeof(target)); //default to last machine position instead of last milestone | |
635 | for(char letter = 'X'; letter <= 'Z'; letter++) { | |
636 | if( gcode->has_letter(letter) ) { | |
637 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)); | |
638 | } | |
639 | } | |
640 | ||
641 | } else { | |
642 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target | |
643 | for(char letter = 'X'; letter <= 'Z'; letter++) { | |
644 | if( gcode->has_letter(letter) ) { | |
645 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : last_milestone[letter - 'X']); | |
646 | } | |
c2885de8 JM |
647 | } |
648 | } | |
6bc4a00a | 649 | |
4710532a | 650 | if( gcode->has_letter('F') ) { |
7369629d | 651 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 652 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 653 | else |
da947c62 | 654 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 655 | } |
6bc4a00a | 656 | |
03b01bac | 657 | //Perform any physical actions |
fae93525 JM |
658 | switch(this->motion_mode) { |
659 | case MOTION_MODE_CANCEL: break; | |
660 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; | |
661 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
662 | case MOTION_MODE_CW_ARC: | |
663 | case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded | 664 | } |
13e4a3f9 | 665 | |
03b01bac | 666 | // last_milestone was set to target in append_milestone, no need to do it again |
4cff3ded | 667 | |
edac9072 AW |
668 | } |
669 | ||
5984acdf | 670 | // We received a new gcode, and one of the functions |
edac9072 AW |
671 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
672 | // and continue | |
03b01bac | 673 | void Robot::distance_in_gcode_is_known(Gcode * gcode) |
4710532a | 674 | { |
edac9072 | 675 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
e0ee24ed | 676 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
677 | } |
678 | ||
a6bbe768 JM |
679 | // reset the machine position for all axis. Used for homing. |
680 | // we need to also set the last_milestone by applying the inverse offsets | |
cef9acea JM |
681 | void Robot::reset_axis_position(float x, float y, float z) |
682 | { | |
a6bbe768 JM |
683 | this->machine_position[X_AXIS] = x; |
684 | this->machine_position[Y_AXIS] = y; | |
685 | this->machine_position[Z_AXIS] = z; | |
cef9acea | 686 | |
a6bbe768 JM |
687 | // calculate what the last milestone would be |
688 | std::tie(this->last_milestone[X_AXIS], this->last_milestone[Y_AXIS], this->last_milestone[Z_AXIS]) = mcs2wcs(); | |
689 | ||
690 | // now set the actuator positions to match | |
807b9b57 | 691 | ActuatorCoordinates actuator_pos; |
a6bbe768 | 692 | arm_solution->cartesian_to_actuator(this->machine_position, actuator_pos); |
807b9b57 | 693 | for (size_t i = 0; i < actuators.size(); i++) |
cef9acea JM |
694 | actuators[i]->change_last_milestone(actuator_pos[i]); |
695 | } | |
696 | ||
807b9b57 | 697 | // Reset the position for an axis (used in homing) |
4710532a JM |
698 | void Robot::reset_axis_position(float position, int axis) |
699 | { | |
a6bbe768 JM |
700 | machine_position[axis] = position; |
701 | reset_axis_position(machine_position[X_AXIS], machine_position[Y_AXIS], machine_position[Z_AXIS]); | |
4cff3ded AW |
702 | } |
703 | ||
a6bbe768 | 704 | // Use FK to find out where actuator is and reset to match |
728477c4 JM |
705 | void Robot::reset_position_from_current_actuator_position() |
706 | { | |
807b9b57 JM |
707 | ActuatorCoordinates actuator_pos; |
708 | for (size_t i = 0; i < actuators.size(); i++) { | |
709 | actuator_pos[i] = actuators[i]->get_current_position(); | |
710 | } | |
a6bbe768 JM |
711 | arm_solution->actuator_to_cartesian(actuator_pos, machine_position); |
712 | ||
713 | std::tie(this->last_milestone[X_AXIS], this->last_milestone[Y_AXIS], this->last_milestone[Z_AXIS]) = mcs2wcs(); | |
cf91d4f3 JM |
714 | |
715 | // now reset actuator correctly, NOTE this may lose a little precision | |
a6bbe768 JM |
716 | // NOTE I do not recall why this was necessary, maybe to correct for small errors in FK |
717 | // arm_solution->cartesian_to_actuator(machine_position, actuator_pos); | |
718 | // for (size_t i = 0; i < actuators.size(); i++) | |
719 | // actuators[i]->change_last_milestone(actuator_pos[i]); | |
728477c4 | 720 | } |
edac9072 | 721 | |
4cff3ded | 722 | // Convert target from millimeters to steps, and append this to the planner |
a6bbe768 | 723 | void Robot::append_milestone(Gcode * gcode, const float target[], float rate_mm_s) |
df6a30f2 | 724 | { |
1ad23cd3 | 725 | float deltas[3]; |
df6a30f2 | 726 | float unit_vec[3]; |
807b9b57 | 727 | ActuatorCoordinates actuator_pos; |
03b01bac | 728 | float transformed_target[3]; // adjust target for bed compensation and WCS offsets |
df6a30f2 MM |
729 | float millimeters_of_travel; |
730 | ||
3632a517 JM |
731 | // unity transform by default |
732 | memcpy(transformed_target, target, sizeof(transformed_target)); | |
5e45206a | 733 | |
a6bbe768 | 734 | // if the target is in machine coordinates we do not apply any translations (G53) |
00e607c7 | 735 | if(!next_command_is_MCS) { |
a6bbe768 JM |
736 | // check function pointer and call if set to transform the target to compensate for bed |
737 | if(compensationTransform) { | |
738 | // some compensation strategies can transform XYZ, some just change Z | |
739 | compensationTransform(transformed_target); | |
740 | } | |
741 | ||
00e607c7 | 742 | // apply wcs offsets and g92 offset |
a6bbe768 JM |
743 | transformed_target[X_AXIS] += (std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset)); |
744 | transformed_target[Y_AXIS] += (std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset)); | |
745 | transformed_target[Z_AXIS] += (std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset)); | |
00e607c7 | 746 | } |
807b9b57 | 747 | |
a6bbe768 | 748 | // find distance moved by each axis, use transformed target from the current machine position |
03b01bac | 749 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
a6bbe768 | 750 | deltas[axis] = transformed_target[axis] - machine_position[axis]; |
3632a517 | 751 | } |
aab6cbba | 752 | |
edac9072 | 753 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 754 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 | 755 | |
a6bbe768 JM |
756 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
757 | // 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 | |
758 | if(millimeters_of_travel < 0.00001F) return; | |
759 | ||
760 | // this is the machine position | |
761 | memcpy(this->machine_position, transformed_target, sizeof(this->machine_position)); | |
762 | ||
763 | ||
df6a30f2 MM |
764 | // find distance unit vector |
765 | for (int i = 0; i < 3; i++) | |
766 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
767 | ||
768 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
769 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
770 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 771 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
772 | |
773 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 774 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
775 | } |
776 | } | |
4cff3ded | 777 | |
5e45206a | 778 | // find actuator position given cartesian position, use actual adjusted target |
3632a517 | 779 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); |
df6a30f2 | 780 | |
03b01bac | 781 | float isecs = rate_mm_s / millimeters_of_travel; |
df6a30f2 | 782 | // check per-actuator speed limits |
807b9b57 | 783 | for (size_t actuator = 0; actuator < actuators.size(); actuator++) { |
928467c0 | 784 | float actuator_rate = fabsf(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * isecs; |
03b01bac | 785 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 786 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
03b01bac | 787 | isecs = rate_mm_s / millimeters_of_travel; |
928467c0 JM |
788 | } |
789 | } | |
790 | ||
edac9072 | 791 | // Append the block to the planner |
da947c62 | 792 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 793 | |
5e45206a | 794 | // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one |
a6bbe768 JM |
795 | if(next_command_is_MCS) { |
796 | // as the target was in machine coordinates we need to add inverse wcs offsets and g92 offset to get a reasonable equivalent last_milestone | |
797 | std::tie(this->last_milestone[X_AXIS], this->last_milestone[Y_AXIS], this->last_milestone[Z_AXIS]) = mcs2wcs(); | |
798 | ||
799 | } else { | |
800 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; | |
801 | } | |
4cff3ded AW |
802 | |
803 | } | |
804 | ||
edac9072 | 805 | // Append a move to the queue ( cutting it into segments if needed ) |
a6bbe768 | 806 | void Robot::append_line(Gcode * gcode, const float target[], float rate_mm_s ) |
4710532a | 807 | { |
a6bbe768 JM |
808 | float last_target[]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]}; |
809 | ||
810 | if(next_command_is_MCS) { | |
811 | // we are in machine coordinates | |
812 | memcpy(last_target, machine_position, sizeof(last_target)); | |
813 | } | |
814 | ||
815 | // Find out the distance for this move in WCS | |
a9d299ab | 816 | // NOTE we need to do sqrt here as this setting of millimeters_of_travel is used by extruder and other modules even if there is no XYZ move |
a6bbe768 | 817 | gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - last_target[X_AXIS], 2 ) + powf( target[Y_AXIS] - last_target[Y_AXIS], 2 ) + powf( target[Z_AXIS] - last_target[Z_AXIS], 2 )); |
4cff3ded | 818 | |
3b4b05b8 | 819 | // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves ) |
a6bbe768 | 820 | if( gcode->millimeters_of_travel < 0.00001F ) return; |
436a2cd1 | 821 | |
edac9072 | 822 | // Mark the gcode as having a known distance |
5dcb2ff3 | 823 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 824 | |
d2adef5e JM |
825 | // if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit |
826 | // Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm | |
827 | // We also check we are not exceeding the E max_speed for the current extruder | |
828 | // We ask Extruder to do all the work, but as Extruder won't even see this gcode until after it has been planned | |
829 | // we need to ask it now passing in the relevant data. | |
830 | // NOTE we need to do this before we segment the line (for deltas) | |
831 | if(gcode->has_letter('E')) { | |
832 | float data[2]; | |
03b01bac JM |
833 | data[0] = gcode->get_value('E'); // E target (maybe absolute or relative) |
834 | data[1] = rate_mm_s / gcode->millimeters_of_travel; // inverted seconds for the move | |
d2adef5e JM |
835 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
836 | rate_mm_s *= data[1]; | |
837 | //THEKERNEL->streams->printf("Extruder has changed the rate by %f to %f\n", data[1], rate_mm_s); | |
838 | } | |
839 | } | |
840 | ||
a6bbe768 | 841 | // 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. |
4a0c8e14 | 842 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. |
3b4b05b8 JM |
843 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
844 | // 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 | 845 | uint16_t segments; |
5984acdf | 846 | |
c2885de8 | 847 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
848 | // enabled if set to something > 1, it is set to 0.0 by default |
849 | // segment based on current speed and requested segments per second | |
850 | // the faster the travel speed the fewer segments needed | |
851 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 852 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
9502f9d5 | 853 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 854 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 855 | |
4710532a JM |
856 | } else { |
857 | if(this->mm_per_line_segment == 0.0F) { | |
858 | segments = 1; // don't split it up | |
859 | } else { | |
9502f9d5 | 860 | segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
861 | } |
862 | } | |
5984acdf | 863 | |
4710532a | 864 | if (segments > 1) { |
2ba859c9 MM |
865 | // A vector to keep track of the endpoint of each segment |
866 | float segment_delta[3]; | |
867 | float segment_end[3]; | |
868 | ||
869 | // How far do we move each segment? | |
9fff6045 | 870 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
a6bbe768 | 871 | segment_delta[i] = (target[i] - last_target[i]) / segments; |
4cff3ded | 872 | |
c8e0fb15 MM |
873 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
874 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 875 | for (int i = 1; i < segments; i++) { |
73706276 | 876 | if(THEKERNEL->is_halted()) return; // don't queue any more segments |
4710532a | 877 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
a6bbe768 | 878 | segment_end[axis] = last_target[axis] + segment_delta[axis]; |
2ba859c9 MM |
879 | |
880 | // Append the end of this segment to the queue | |
928467c0 | 881 | this->append_milestone(gcode, segment_end, rate_mm_s); |
2ba859c9 | 882 | } |
4cff3ded | 883 | } |
5984acdf MM |
884 | |
885 | // Append the end of this full move to the queue | |
928467c0 | 886 | this->append_milestone(gcode, target, rate_mm_s); |
2134bcf2 | 887 | |
a6bbe768 | 888 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 889 | |
2134bcf2 MM |
890 | // if adding these blocks didn't start executing, do that now |
891 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
892 | } |
893 | ||
4cff3ded | 894 | |
edac9072 | 895 | // Append an arc to the queue ( cutting it into segments as needed ) |
a6bbe768 | 896 | void Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 897 | { |
aab6cbba | 898 | |
edac9072 | 899 | // Scary math |
2ba859c9 MM |
900 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
901 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
902 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
903 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
904 | float r_axis1 = -offset[this->plane_axis_1]; | |
905 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
906 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 907 | |
51871fb8 | 908 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 909 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
03b01bac | 910 | float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
5fa0c173 | 911 | if (is_clockwise) { // Correct atan2 output per direction |
03b01bac | 912 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2 * M_PI; } |
5fa0c173 | 913 | } else { |
03b01bac | 914 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2 * M_PI; } |
4710532a | 915 | } |
aab6cbba | 916 | |
edac9072 | 917 | // Find the distance for this gcode |
4710532a | 918 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 919 | |
edac9072 | 920 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
3b4b05b8 | 921 | if( gcode->millimeters_of_travel < 0.00001F ) { |
4710532a JM |
922 | return; |
923 | } | |
5dcb2ff3 | 924 | |
edac9072 | 925 | // Mark the gcode as having a known distance |
d149c730 | 926 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
927 | |
928 | // Figure out how many segments for this gcode | |
c8f4ee77 | 929 | uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 930 | |
4710532a JM |
931 | float theta_per_segment = angular_travel / segments; |
932 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
933 | |
934 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
935 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
936 | r_T = [cos(phi) -sin(phi); | |
937 | sin(phi) cos(phi] * r ; | |
938 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
939 | defined from the circle center to the initial position. Each line segment is formed by successive | |
940 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
941 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 942 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
943 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
944 | tool precision in some cases. Therefore, arc path correction is implemented. | |
945 | ||
946 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
947 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
948 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
949 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
950 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
951 | issue for CNC machines with the single precision Arduino calculations. | |
952 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
953 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
954 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
955 | This is important when there are successive arc motions. | |
956 | */ | |
957 | // Vector rotation matrix values | |
4710532a | 958 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 959 | float sin_T = theta_per_segment; |
aab6cbba | 960 | |
1ad23cd3 MM |
961 | float arc_target[3]; |
962 | float sin_Ti; | |
963 | float cos_Ti; | |
964 | float r_axisi; | |
aab6cbba AW |
965 | uint16_t i; |
966 | int8_t count = 0; | |
967 | ||
968 | // Initialize the linear axis | |
2ba859c9 | 969 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 970 | |
4710532a | 971 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
73706276 | 972 | if(THEKERNEL->is_halted()) return; // don't queue any more segments |
aab6cbba | 973 | |
b66fb830 | 974 | if (count < this->arc_correction ) { |
4710532a JM |
975 | // Apply vector rotation matrix |
976 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
977 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
978 | r_axis1 = r_axisi; | |
979 | count++; | |
aab6cbba | 980 | } else { |
4710532a JM |
981 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
982 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
983 | cos_Ti = cosf(i * theta_per_segment); | |
984 | sin_Ti = sinf(i * theta_per_segment); | |
985 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
986 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
987 | count = 0; | |
aab6cbba AW |
988 | } |
989 | ||
990 | // Update arc_target location | |
991 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
992 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
993 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
994 | |
995 | // Append this segment to the queue | |
928467c0 | 996 | this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
997 | |
998 | } | |
edac9072 | 999 | |
aab6cbba | 1000 | // Ensure last segment arrives at target location. |
928467c0 | 1001 | this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
1002 | } |
1003 | ||
edac9072 | 1004 | // Do the math for an arc and add it to the queue |
a6bbe768 | 1005 | void Robot::compute_arc(Gcode * gcode, const float offset[], const float target[]) |
4710532a | 1006 | { |
aab6cbba AW |
1007 | |
1008 | // Find the radius | |
13addf09 | 1009 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1010 | |
1011 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1012 | bool is_clockwise = false; | |
4710532a JM |
1013 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
1014 | is_clockwise = true; | |
1015 | } | |
aab6cbba AW |
1016 | |
1017 | // Append arc | |
436a2cd1 | 1018 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1019 | } |
1020 | ||
1021 | ||
4710532a JM |
1022 | float Robot::theta(float x, float y) |
1023 | { | |
1024 | float t = atanf(x / fabs(y)); | |
1025 | if (y > 0) { | |
1026 | return(t); | |
1027 | } else { | |
1028 | if (t > 0) { | |
1029 | return(M_PI - t); | |
1030 | } else { | |
1031 | return(-M_PI - t); | |
1032 | } | |
1033 | } | |
4cff3ded AW |
1034 | } |
1035 | ||
4710532a JM |
1036 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1037 | { | |
4cff3ded AW |
1038 | this->plane_axis_0 = axis_0; |
1039 | this->plane_axis_1 = axis_1; | |
1040 | this->plane_axis_2 = axis_2; | |
1041 | } | |
1042 | ||
fae93525 | 1043 | void Robot::clearToolOffset() |
4710532a | 1044 | { |
fae93525 JM |
1045 | memset(this->toolOffset, 0, sizeof(this->toolOffset)); |
1046 | } | |
1047 | ||
1048 | void Robot::setToolOffset(const float offset[3]) | |
1049 | { | |
fae93525 | 1050 | memcpy(this->toolOffset, offset, sizeof(this->toolOffset)); |
5966b7d0 AT |
1051 | } |
1052 |