Commit | Line | Data |
---|---|---|
4cff3ded | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include <string> | |
11 | using std::string; | |
12 | #include "mbed.h" | |
13 | #include <math.h> | |
14 | #include "Planner.h" | |
3a4fa0c1 | 15 | #include "Player.h" |
4cff3ded AW |
16 | #include "Robot.h" |
17 | #include "libs/nuts_bolts.h" | |
18 | #include "../communication/utils/Gcode.h" | |
19 | #include "arm_solutions/BaseSolution.h" | |
20 | #include "arm_solutions/CartesianSolution.h" | |
21 | ||
22 | Robot::Robot(){ | |
a1b7e9f0 AW |
23 | this->inch_mode = false; |
24 | this->absolute_mode = false; | |
4cff3ded AW |
25 | this->motion_mode = MOTION_MODE_SEEK; |
26 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); | |
27 | clear_vector(this->current_position); | |
28 | clear_vector(this->last_milestone); | |
29 | } | |
30 | ||
31 | //Called when the module has just been loaded | |
32 | void Robot::on_module_loaded() { | |
33 | this->arm_solution = new CartesianSolution(this->kernel->config); | |
34 | this->register_for_event(ON_GCODE_RECEIVED); | |
35 | ||
36 | // Configuration | |
da24d6ae AW |
37 | this->on_config_reload(this); |
38 | } | |
39 | ||
40 | void Robot::on_config_reload(void* argument){ | |
b66fb830 AW |
41 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(100)->as_number()/60; |
42 | this->seek_rate = this->kernel->config->value(default_seek_rate_checksum )->by_default(100)->as_number()/60; | |
43 | this->mm_per_line_segment = this->kernel->config->value(mm_per_line_segment_checksum)->by_default(0.1)->as_number(); | |
44 | this->mm_per_arc_segment = this->kernel->config->value(mm_per_arc_segment_checksum )->by_default(10 )->as_number(); | |
7b470506 AW |
45 | this->arc_correction = this->kernel->config->value(arc_correction_checksum )->by_default(5 )->as_number(); |
46 | this->max_speeds[X_AXIS] = this->kernel->config->value(x_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
47 | this->max_speeds[Y_AXIS] = this->kernel->config->value(y_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
48 | this->max_speeds[Z_AXIS] = this->kernel->config->value(z_axis_max_speed_checksum )->by_default(0 )->as_number(); | |
4cff3ded AW |
49 | } |
50 | ||
51 | //A GCode has been received | |
52 | void Robot::on_gcode_received(void * argument){ | |
53 | Gcode* gcode = static_cast<Gcode*>(argument); | |
436a2cd1 AW |
54 | gcode->call_on_gcode_execute_event_immediatly = false; |
55 | gcode->on_gcode_execute_event_called = false; | |
436a2cd1 | 56 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
3a4fa0c1 | 57 | if( this->kernel->player->queue.size() == 0 ){ |
436a2cd1 AW |
58 | gcode->call_on_gcode_execute_event_immediatly = true; |
59 | this->execute_gcode(gcode); | |
60 | if( gcode->on_gcode_execute_event_called == false ){ | |
61 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
62 | } | |
63 | }else{ | |
3a4fa0c1 | 64 | Block* block = this->kernel->player->queue.get_ref( this->kernel->player->queue.size() - 1 ); |
436a2cd1 | 65 | this->execute_gcode(gcode); |
e0aa02f6 | 66 | block->append_gcode(gcode); |
436a2cd1 AW |
67 | } |
68 | ||
4cff3ded AW |
69 | } |
70 | ||
436a2cd1 | 71 | |
4cff3ded AW |
72 | //See if the current Gcode line has some orders for us |
73 | void Robot::execute_gcode(Gcode* gcode){ | |
74 | ||
75 | //Temp variables, constant properties are stored in the object | |
76 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 77 | this->motion_mode = -1; |
4cff3ded AW |
78 | |
79 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly | |
80 | if( gcode->has_letter('G')){ | |
81 | switch( (int) gcode->get_value('G') ){ | |
82 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; | |
83 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
84 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
85 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
86 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; | |
87 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
88 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
89 | case 20:this->inch_mode = true; break; | |
90 | case 21:this->inch_mode = false; break; | |
91 | case 90:this->absolute_mode = true; break; | |
92 | case 91:this->absolute_mode = false; break; | |
93 | } | |
23c90ba6 | 94 | }else{ return; } |
4cff3ded AW |
95 | |
96 | //Get parameters | |
97 | double target[3], offset[3]; | |
98 | clear_vector(target); clear_vector(offset); | |
99 | ||
100 | memcpy(target, this->current_position, sizeof(target)); //default to last target | |
101 | ||
102 | for(char letter = 'I'; letter <= 'K'; letter++){ if( gcode->has_letter(letter) ){ offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); } } | |
103 | for(char letter = 'X'; letter <= 'Z'; letter++){ if( gcode->has_letter(letter) ){ target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); } } | |
104 | ||
105 | if( gcode->has_letter('F') ){ if( this->motion_mode == MOTION_MODE_SEEK ){ this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60; }else{ this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60; } } | |
106 | ||
107 | //Perform any physical actions | |
108 | switch( next_action ){ | |
109 | case NEXT_ACTION_DEFAULT: | |
110 | switch(this->motion_mode){ | |
111 | case MOTION_MODE_CANCEL: break; | |
436a2cd1 AW |
112 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; |
113 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; | |
114 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded AW |
115 | } |
116 | break; | |
117 | } | |
13e4a3f9 | 118 | |
4cff3ded AW |
119 | // As far as the parser is concerned, the position is now == target. In reality the |
120 | // motion control system might still be processing the action and the real tool position | |
121 | // in any intermediate location. | |
122 | memcpy(this->current_position, target, sizeof(double)*3); // this->position[] = target[]; | |
123 | ||
124 | } | |
125 | ||
126 | // Convert target from millimeters to steps, and append this to the planner | |
127 | void Robot::append_milestone( double target[], double rate ){ | |
128 | int steps[3]; //Holds the result of the conversion | |
129 | ||
130 | this->arm_solution->millimeters_to_steps( target, steps ); | |
131 | ||
aab6cbba AW |
132 | double deltas[3]; |
133 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];} | |
134 | ||
a1b7e9f0 | 135 | |
aab6cbba | 136 | double millimeters_of_travel = sqrt( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
436a2cd1 AW |
137 | //if( millimeters_of_travel < 0.001 ){ return; } |
138 | //double duration = millimeters_of_travel / rate; | |
139 | double duration = 0; | |
140 | if( rate > 0 ){ duration = millimeters_of_travel / rate; } | |
7b470506 AW |
141 | |
142 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){ | |
143 | if( this->max_speeds[axis] > 0 ){ | |
144 | double axis_speed = ( fabs(deltas[axis]) / ( millimeters_of_travel / rate )) * 60; | |
436a2cd1 AW |
145 | if( axis_speed > this->max_speeds[axis] ){ |
146 | rate = rate * ( this->max_speeds[axis] / axis_speed ); | |
147 | } | |
7b470506 AW |
148 | } |
149 | } | |
b66fb830 | 150 | //this->kernel->serial->printf("dur: %f mm: %f rate: %f target_z: %f steps_z: %d deltas_z: %f \r\n", duration, millimeters_of_travel, rate, target[2], steps[2], deltas[2] ); |
4cff3ded | 151 | |
aab6cbba | 152 | this->kernel->planner->append_block( steps, rate*60, millimeters_of_travel, deltas ); |
4cff3ded | 153 | |
b66fb830 | 154 | memcpy(this->last_milestone, target, sizeof(double)*3); // this->last_milestone[] = target[]; |
4cff3ded AW |
155 | |
156 | } | |
157 | ||
436a2cd1 | 158 | void Robot::append_line(Gcode* gcode, double target[], double rate ){ |
4cff3ded | 159 | |
a1b7e9f0 | 160 | |
4cff3ded AW |
161 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
162 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
436a2cd1 | 163 | gcode->millimeters_of_travel = sqrt( pow( target[X_AXIS]-this->current_position[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->current_position[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->current_position[Z_AXIS], 2 ) ); |
4cff3ded | 164 | |
436a2cd1 AW |
165 | if( gcode->call_on_gcode_execute_event_immediatly == true ){ |
166 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
167 | gcode->on_gcode_execute_event_called = true; | |
168 | } | |
169 | ||
170 | if (gcode->millimeters_of_travel == 0.0) { | |
171 | this->append_milestone(this->current_position, 0.0); | |
172 | return; | |
173 | } | |
174 | ||
175 | uint16_t segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); | |
4cff3ded AW |
176 | // A vector to keep track of the endpoint of each segment |
177 | double temp_target[3]; | |
178 | //Initialize axes | |
179 | memcpy( temp_target, this->current_position, sizeof(double)*3); // temp_target[] = this->current_position[]; | |
180 | ||
181 | //For each segment | |
182 | for( int i=0; i<segments-1; i++ ){ | |
183 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } | |
184 | this->append_milestone(temp_target, rate); | |
185 | } | |
186 | this->append_milestone(target, rate); | |
187 | } | |
188 | ||
4cff3ded | 189 | |
436a2cd1 | 190 | void Robot::append_arc(Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise ){ |
aab6cbba AW |
191 | |
192 | double center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; | |
193 | double center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
194 | double linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; | |
195 | double r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location | |
196 | double r_axis1 = -offset[this->plane_axis_1]; | |
197 | double rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
198 | double rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
199 | ||
200 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
201 | double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); | |
202 | if (angular_travel < 0) { angular_travel += 2*M_PI; } | |
203 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
204 | ||
436a2cd1 AW |
205 | gcode->millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); |
206 | ||
207 | if( gcode->call_on_gcode_execute_event_immediatly == true ){ | |
208 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
209 | gcode->on_gcode_execute_event_called = true; | |
210 | } | |
211 | ||
212 | if (gcode->millimeters_of_travel == 0.0) { | |
213 | this->append_milestone(this->current_position, 0.0); | |
214 | return; | |
215 | } | |
216 | ||
217 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); | |
aab6cbba AW |
218 | |
219 | double theta_per_segment = angular_travel/segments; | |
220 | double linear_per_segment = linear_travel/segments; | |
221 | ||
222 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
223 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
224 | r_T = [cos(phi) -sin(phi); | |
225 | sin(phi) cos(phi] * r ; | |
226 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
227 | defined from the circle center to the initial position. Each line segment is formed by successive | |
228 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
229 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
230 | all double numbers are single precision on the Arduino. (True double precision will not have | |
231 | round off issues for CNC applications.) Single precision error can accumulate to be greater than | |
232 | tool precision in some cases. Therefore, arc path correction is implemented. | |
233 | ||
234 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
235 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
236 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
237 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
238 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
239 | issue for CNC machines with the single precision Arduino calculations. | |
240 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
241 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
242 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
243 | This is important when there are successive arc motions. | |
244 | */ | |
245 | // Vector rotation matrix values | |
246 | double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation | |
247 | double sin_T = theta_per_segment; | |
248 | ||
249 | double arc_target[3]; | |
250 | double sin_Ti; | |
251 | double cos_Ti; | |
252 | double r_axisi; | |
253 | uint16_t i; | |
254 | int8_t count = 0; | |
255 | ||
256 | // Initialize the linear axis | |
257 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; | |
258 | ||
259 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
260 | ||
b66fb830 | 261 | if (count < this->arc_correction ) { |
aab6cbba AW |
262 | // Apply vector rotation matrix |
263 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
264 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
265 | r_axis1 = r_axisi; | |
266 | count++; | |
267 | } else { | |
268 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
269 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
270 | cos_Ti = cos(i*theta_per_segment); | |
271 | sin_Ti = sin(i*theta_per_segment); | |
272 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; | |
273 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
274 | count = 0; | |
275 | } | |
276 | ||
277 | // Update arc_target location | |
278 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
279 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
280 | arc_target[this->plane_axis_2] += linear_per_segment; | |
281 | this->append_milestone(arc_target, this->feed_rate); | |
282 | ||
283 | } | |
284 | // Ensure last segment arrives at target location. | |
285 | this->append_milestone(target, this->feed_rate); | |
286 | } | |
287 | ||
4cff3ded | 288 | |
436a2cd1 | 289 | void Robot::compute_arc(Gcode* gcode, double offset[], double target[]){ |
aab6cbba AW |
290 | |
291 | // Find the radius | |
292 | double radius = hypot(offset[this->plane_axis_0], offset[this->plane_axis_1]); | |
293 | ||
294 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
295 | bool is_clockwise = false; | |
296 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } | |
297 | ||
298 | // Append arc | |
436a2cd1 | 299 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
300 | |
301 | } | |
302 | ||
303 | ||
4cff3ded AW |
304 | // Convert from inches to millimeters ( our internal storage unit ) if needed |
305 | inline double Robot::to_millimeters( double value ){ | |
306 | return this->inch_mode ? value/25.4 : value; | |
307 | } | |
308 | ||
309 | double Robot::theta(double x, double y){ | |
310 | double t = atan(x/fabs(y)); | |
311 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} | |
312 | } | |
313 | ||
314 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
315 | this->plane_axis_0 = axis_0; | |
316 | this->plane_axis_1 = axis_1; | |
317 | this->plane_axis_2 = axis_2; | |
318 | } | |
319 | ||
320 |