| 1 | /* |
| 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) |
| 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 | |
| 11 | #include <math.h> |
| 12 | #include <string> |
| 13 | using std::string; |
| 14 | |
| 15 | #include "Planner.h" |
| 16 | #include "Conveyor.h" |
| 17 | #include "Robot.h" |
| 18 | #include "nuts_bolts.h" |
| 19 | #include "Pin.h" |
| 20 | #include "StepperMotor.h" |
| 21 | #include "Gcode.h" |
| 22 | #include "PublicDataRequest.h" |
| 23 | #include "arm_solutions/BaseSolution.h" |
| 24 | #include "arm_solutions/CartesianSolution.h" |
| 25 | #include "arm_solutions/RotatableCartesianSolution.h" |
| 26 | #include "arm_solutions/RostockSolution.h" |
| 27 | #include "arm_solutions/JohannKosselSolution.h" |
| 28 | #include "arm_solutions/HBotSolution.h" |
| 29 | #include "StepTicker.h" |
| 30 | |
| 31 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
| 32 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") |
| 33 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") |
| 34 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") |
| 35 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") |
| 36 | #define arc_correction_checksum CHECKSUM("arc_correction") |
| 37 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") |
| 38 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") |
| 39 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") |
| 40 | |
| 41 | // arm solutions |
| 42 | #define arm_solution_checksum CHECKSUM("arm_solution") |
| 43 | #define cartesian_checksum CHECKSUM("cartesian") |
| 44 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") |
| 45 | #define rostock_checksum CHECKSUM("rostock") |
| 46 | #define delta_checksum CHECKSUM("delta") |
| 47 | #define hbot_checksum CHECKSUM("hbot") |
| 48 | #define corexy_checksum CHECKSUM("corexy") |
| 49 | #define kossel_checksum CHECKSUM("kossel") |
| 50 | |
| 51 | // stepper motor stuff |
| 52 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") |
| 53 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") |
| 54 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") |
| 55 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") |
| 56 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") |
| 57 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") |
| 58 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") |
| 59 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") |
| 60 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") |
| 61 | |
| 62 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
| 63 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") |
| 64 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") |
| 65 | |
| 66 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
| 67 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") |
| 68 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") |
| 69 | |
| 70 | |
| 71 | // new-style actuator stuff |
| 72 | #define actuator_checksum CHEKCSUM("actuator") |
| 73 | |
| 74 | #define step_pin_checksum CHECKSUM("step_pin") |
| 75 | #define dir_pin_checksum CHEKCSUM("dir_pin") |
| 76 | #define en_pin_checksum CHECKSUM("en_pin") |
| 77 | |
| 78 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") |
| 79 | #define max_rate_checksum CHECKSUM("max_rate") |
| 80 | |
| 81 | #define alpha_checksum CHECKSUM("alpha") |
| 82 | #define beta_checksum CHECKSUM("beta") |
| 83 | #define gamma_checksum CHECKSUM("gamma") |
| 84 | |
| 85 | |
| 86 | // 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 |
| 87 | // It takes care of cutting arcs into segments, same thing for line that are too long |
| 88 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
| 89 | |
| 90 | Robot::Robot(){ |
| 91 | this->inch_mode = false; |
| 92 | this->absolute_mode = true; |
| 93 | this->motion_mode = MOTION_MODE_SEEK; |
| 94 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
| 95 | clear_vector(this->last_milestone); |
| 96 | this->arm_solution = NULL; |
| 97 | seconds_per_minute = 60.0F; |
| 98 | } |
| 99 | |
| 100 | //Called when the module has just been loaded |
| 101 | void Robot::on_module_loaded() { |
| 102 | register_for_event(ON_CONFIG_RELOAD); |
| 103 | this->register_for_event(ON_GCODE_RECEIVED); |
| 104 | this->register_for_event(ON_GET_PUBLIC_DATA); |
| 105 | this->register_for_event(ON_SET_PUBLIC_DATA); |
| 106 | |
| 107 | // Configuration |
| 108 | this->on_config_reload(this); |
| 109 | } |
| 110 | |
| 111 | void Robot::on_config_reload(void* argument){ |
| 112 | |
| 113 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
| 114 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. |
| 115 | // To make adding those solution easier, they have their own, separate object. |
| 116 | // Here we read the config to find out which arm solution to use |
| 117 | if (this->arm_solution) delete this->arm_solution; |
| 118 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
| 119 | // Note checksums are not const expressions when in debug mode, so don't use switch |
| 120 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
| 121 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
| 122 | |
| 123 | }else if(solution_checksum == rostock_checksum) { |
| 124 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
| 125 | |
| 126 | }else if(solution_checksum == kossel_checksum) { |
| 127 | this->arm_solution = new JohannKosselSolution(THEKERNEL->config); |
| 128 | |
| 129 | }else if(solution_checksum == delta_checksum) { |
| 130 | // place holder for now |
| 131 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
| 132 | |
| 133 | }else if(solution_checksum == rotatable_cartesian_checksum) { |
| 134 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
| 135 | |
| 136 | }else if(solution_checksum == cartesian_checksum) { |
| 137 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
| 138 | |
| 139 | }else{ |
| 140 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
| 141 | } |
| 142 | |
| 143 | |
| 144 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
| 145 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); |
| 146 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); |
| 147 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); |
| 148 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); |
| 149 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
| 150 | |
| 151 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
| 152 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
| 153 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; |
| 154 | |
| 155 | Pin alpha_step_pin; |
| 156 | Pin alpha_dir_pin; |
| 157 | Pin alpha_en_pin; |
| 158 | Pin beta_step_pin; |
| 159 | Pin beta_dir_pin; |
| 160 | Pin beta_en_pin; |
| 161 | Pin gamma_step_pin; |
| 162 | Pin gamma_dir_pin; |
| 163 | Pin gamma_en_pin; |
| 164 | |
| 165 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); |
| 166 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); |
| 167 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); |
| 168 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); |
| 169 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
| 170 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); |
| 171 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
| 172 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); |
| 173 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); |
| 174 | |
| 175 | float steps_per_mm[3] = { |
| 176 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), |
| 177 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), |
| 178 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), |
| 179 | }; |
| 180 | |
| 181 | // TODO: delete or detect old steppermotors |
| 182 | // Make our 3 StepperMotors |
| 183 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) ); |
| 184 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) ); |
| 185 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) ); |
| 186 | |
| 187 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
| 188 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); |
| 189 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); |
| 190 | |
| 191 | alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
| 192 | beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F; |
| 193 | gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
| 194 | |
| 195 | actuators.clear(); |
| 196 | actuators.push_back(alpha_stepper_motor); |
| 197 | actuators.push_back(beta_stepper_motor); |
| 198 | actuators.push_back(gamma_stepper_motor); |
| 199 | |
| 200 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
| 201 | // so the first move can be correct if homing is not performed |
| 202 | float actuator_pos[3]; |
| 203 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
| 204 | for (int i = 0; i < 3; i++) |
| 205 | actuators[i]->change_last_milestone(actuator_pos[i]); |
| 206 | } |
| 207 | |
| 208 | void Robot::on_get_public_data(void* argument){ |
| 209 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
| 210 | |
| 211 | if(!pdr->starts_with(robot_checksum)) return; |
| 212 | |
| 213 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
| 214 | static float return_data; |
| 215 | return_data = 100.0F * 60.0F / seconds_per_minute; |
| 216 | pdr->set_data_ptr(&return_data); |
| 217 | pdr->set_taken(); |
| 218 | |
| 219 | }else if(pdr->second_element_is(current_position_checksum)) { |
| 220 | static float return_data[3]; |
| 221 | return_data[0]= from_millimeters(this->last_milestone[0]); |
| 222 | return_data[1]= from_millimeters(this->last_milestone[1]); |
| 223 | return_data[2]= from_millimeters(this->last_milestone[2]); |
| 224 | |
| 225 | pdr->set_data_ptr(&return_data); |
| 226 | pdr->set_taken(); |
| 227 | } |
| 228 | } |
| 229 | |
| 230 | void Robot::on_set_public_data(void* argument){ |
| 231 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
| 232 | |
| 233 | if(!pdr->starts_with(robot_checksum)) return; |
| 234 | |
| 235 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
| 236 | // NOTE do not use this while printing! |
| 237 | float t= *static_cast<float*>(pdr->get_data_ptr()); |
| 238 | // enforce minimum 10% speed |
| 239 | if (t < 10.0F) t= 10.0F; |
| 240 | |
| 241 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
| 242 | pdr->set_taken(); |
| 243 | } |
| 244 | } |
| 245 | |
| 246 | //A GCode has been received |
| 247 | //See if the current Gcode line has some orders for us |
| 248 | void Robot::on_gcode_received(void * argument){ |
| 249 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 250 | |
| 251 | //Temp variables, constant properties are stored in the object |
| 252 | uint8_t next_action = NEXT_ACTION_DEFAULT; |
| 253 | this->motion_mode = -1; |
| 254 | |
| 255 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
| 256 | if( gcode->has_g){ |
| 257 | switch( gcode->g ){ |
| 258 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
| 259 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; |
| 260 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; |
| 261 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; |
| 262 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; |
| 263 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; |
| 264 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; |
| 265 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; |
| 266 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; |
| 267 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; |
| 268 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; |
| 269 | case 92: { |
| 270 | if(gcode->get_num_args() == 0){ |
| 271 | clear_vector(this->last_milestone); |
| 272 | }else{ |
| 273 | for (char letter = 'X'; letter <= 'Z'; letter++){ |
| 274 | if ( gcode->has_letter(letter) ) |
| 275 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); |
| 276 | } |
| 277 | } |
| 278 | |
| 279 | // TODO: handle any number of actuators |
| 280 | float actuator_pos[3]; |
| 281 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
| 282 | |
| 283 | for (int i = 0; i < 3; i++) |
| 284 | actuators[i]->change_last_milestone(actuator_pos[i]); |
| 285 | |
| 286 | gcode->mark_as_taken(); |
| 287 | return; |
| 288 | } |
| 289 | } |
| 290 | }else if( gcode->has_m){ |
| 291 | switch( gcode->m ){ |
| 292 | case 92: // M92 - set steps per mm |
| 293 | if (gcode->has_letter('X')) |
| 294 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
| 295 | if (gcode->has_letter('Y')) |
| 296 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
| 297 | if (gcode->has_letter('Z')) |
| 298 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
| 299 | if (gcode->has_letter('F')) |
| 300 | seconds_per_minute = gcode->get_value('F'); |
| 301 | |
| 302 | 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); |
| 303 | gcode->add_nl = true; |
| 304 | gcode->mark_as_taken(); |
| 305 | return; |
| 306 | case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ", |
| 307 | from_millimeters(this->last_milestone[0]), |
| 308 | from_millimeters(this->last_milestone[1]), |
| 309 | from_millimeters(this->last_milestone[2])); |
| 310 | gcode->add_nl = true; |
| 311 | gcode->mark_as_taken(); |
| 312 | return; |
| 313 | |
| 314 | case 203: // M203 Set maximum feedrates in mm/sec |
| 315 | if (gcode->has_letter('X')) |
| 316 | this->max_speeds[X_AXIS]= gcode->get_value('X'); |
| 317 | if (gcode->has_letter('Y')) |
| 318 | this->max_speeds[Y_AXIS]= gcode->get_value('Y'); |
| 319 | if (gcode->has_letter('Z')) |
| 320 | this->max_speeds[Z_AXIS]= gcode->get_value('Z'); |
| 321 | if (gcode->has_letter('A')) |
| 322 | alpha_stepper_motor->max_rate= gcode->get_value('A'); |
| 323 | if (gcode->has_letter('B')) |
| 324 | beta_stepper_motor->max_rate= gcode->get_value('B'); |
| 325 | if (gcode->has_letter('C')) |
| 326 | gamma_stepper_motor->max_rate= gcode->get_value('C'); |
| 327 | |
| 328 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", |
| 329 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
| 330 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); |
| 331 | gcode->add_nl = true; |
| 332 | gcode->mark_as_taken(); |
| 333 | break; |
| 334 | |
| 335 | case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported |
| 336 | gcode->mark_as_taken(); |
| 337 | |
| 338 | if (gcode->has_letter('S')) |
| 339 | { |
| 340 | // TODO for safety so it applies only to following gcodes, maybe a better way to do this? |
| 341 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 342 | float acc= gcode->get_value('S'); // mm/s^2 |
| 343 | // enforce minimum |
| 344 | if (acc < 1.0F) |
| 345 | acc = 1.0F; |
| 346 | THEKERNEL->planner->acceleration= acc; |
| 347 | } |
| 348 | break; |
| 349 | |
| 350 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
| 351 | gcode->mark_as_taken(); |
| 352 | if (gcode->has_letter('X')) |
| 353 | { |
| 354 | float jd= gcode->get_value('X'); |
| 355 | // enforce minimum |
| 356 | if (jd < 0.0F) |
| 357 | jd = 0.0F; |
| 358 | THEKERNEL->planner->junction_deviation= jd; |
| 359 | } |
| 360 | if (gcode->has_letter('S')) |
| 361 | { |
| 362 | float mps= gcode->get_value('S'); |
| 363 | // enforce minimum |
| 364 | if (mps < 0.0F) |
| 365 | mps = 0.0F; |
| 366 | THEKERNEL->planner->minimum_planner_speed= mps; |
| 367 | } |
| 368 | break; |
| 369 | |
| 370 | case 220: // M220 - speed override percentage |
| 371 | gcode->mark_as_taken(); |
| 372 | if (gcode->has_letter('S')) |
| 373 | { |
| 374 | float factor = gcode->get_value('S'); |
| 375 | // enforce minimum 10% speed |
| 376 | if (factor < 10.0F) |
| 377 | factor = 10.0F; |
| 378 | // enforce maximum 10x speed |
| 379 | if (factor > 1000.0F) |
| 380 | factor = 1000.0F; |
| 381 | |
| 382 | seconds_per_minute = 6000.0F / factor; |
| 383 | } |
| 384 | break; |
| 385 | |
| 386 | case 400: // wait until all moves are done up to this point |
| 387 | gcode->mark_as_taken(); |
| 388 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 389 | break; |
| 390 | |
| 391 | case 500: // M500 saves some volatile settings to config override file |
| 392 | case 503: // M503 just prints the settings |
| 393 | 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); |
| 394 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration); |
| 395 | gcode->stream->printf(";X- Junction Deviation, S - Minimum Planner speed:\nM205 X%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
| 396 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
| 397 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
| 398 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); |
| 399 | gcode->mark_as_taken(); |
| 400 | break; |
| 401 | |
| 402 | case 665: // M665 set optional arm solution variables based on arm solution. NOTE these are not saved with M500 |
| 403 | gcode->mark_as_taken(); |
| 404 | // the parameter args could be any letter except S so try each one |
| 405 | for(char c='A';c<='Z';c++) { |
| 406 | if(c == 'S') continue; // used for segments per second |
| 407 | float v; |
| 408 | bool supported= arm_solution->get_optional(c, &v); // retrieve current value if supported |
| 409 | |
| 410 | if(supported && gcode->has_letter(c)) { // set new value if supported |
| 411 | v= gcode->get_value(c); |
| 412 | arm_solution->set_optional(c, v); |
| 413 | } |
| 414 | if(supported) { // print all current values of supported options |
| 415 | gcode->stream->printf("%c %8.3f ", c, v); |
| 416 | gcode->add_nl = true; |
| 417 | } |
| 418 | } |
| 419 | // set delta segments per second |
| 420 | if(gcode->has_letter('S')) { |
| 421 | this->delta_segments_per_second= gcode->get_value('S'); |
| 422 | } |
| 423 | break; |
| 424 | } |
| 425 | } |
| 426 | |
| 427 | if( this->motion_mode < 0) |
| 428 | return; |
| 429 | |
| 430 | //Get parameters |
| 431 | float target[3], offset[3]; |
| 432 | clear_vector(offset); |
| 433 | |
| 434 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
| 435 | |
| 436 | for(char letter = 'I'; letter <= 'K'; letter++){ |
| 437 | if( gcode->has_letter(letter) ){ |
| 438 | offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); |
| 439 | } |
| 440 | } |
| 441 | for(char letter = 'X'; letter <= 'Z'; letter++){ |
| 442 | if( gcode->has_letter(letter) ){ |
| 443 | target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); |
| 444 | } |
| 445 | } |
| 446 | |
| 447 | if( gcode->has_letter('F') ) |
| 448 | { |
| 449 | if( this->motion_mode == MOTION_MODE_SEEK ) |
| 450 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
| 451 | else |
| 452 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
| 453 | } |
| 454 | |
| 455 | //Perform any physical actions |
| 456 | switch( next_action ){ |
| 457 | case NEXT_ACTION_DEFAULT: |
| 458 | switch(this->motion_mode){ |
| 459 | case MOTION_MODE_CANCEL: break; |
| 460 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; |
| 461 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; |
| 462 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
| 463 | } |
| 464 | break; |
| 465 | } |
| 466 | |
| 467 | // As far as the parser is concerned, the position is now == target. In reality the |
| 468 | // motion control system might still be processing the action and the real tool position |
| 469 | // in any intermediate location. |
| 470 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->position[] = target[]; |
| 471 | |
| 472 | } |
| 473 | |
| 474 | // We received a new gcode, and one of the functions |
| 475 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
| 476 | // and continue |
| 477 | void Robot::distance_in_gcode_is_known(Gcode* gcode){ |
| 478 | |
| 479 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
| 480 | THEKERNEL->conveyor->append_gcode(gcode); |
| 481 | } |
| 482 | |
| 483 | // Reset the position for all axes ( used in homing and G92 stuff ) |
| 484 | void Robot::reset_axis_position(float position, int axis) { |
| 485 | this->last_milestone[axis] = position; |
| 486 | |
| 487 | float actuator_pos[3]; |
| 488 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
| 489 | |
| 490 | for (int i = 0; i < 3; i++) |
| 491 | actuators[i]->change_last_milestone(actuator_pos[i]); |
| 492 | } |
| 493 | |
| 494 | |
| 495 | // Convert target from millimeters to steps, and append this to the planner |
| 496 | void Robot::append_milestone( float target[], float rate_mm_s ) |
| 497 | { |
| 498 | float deltas[3]; |
| 499 | float unit_vec[3]; |
| 500 | float actuator_pos[3]; |
| 501 | float millimeters_of_travel; |
| 502 | |
| 503 | // find distance moved by each axis |
| 504 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) |
| 505 | deltas[axis] = target[axis] - last_milestone[axis]; |
| 506 | |
| 507 | // Compute how long this move moves, so we can attach it to the block for later use |
| 508 | millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
| 509 | |
| 510 | // find distance unit vector |
| 511 | for (int i = 0; i < 3; i++) |
| 512 | unit_vec[i] = deltas[i] / millimeters_of_travel; |
| 513 | |
| 514 | // Do not move faster than the configured cartesian limits |
| 515 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) |
| 516 | { |
| 517 | if ( max_speeds[axis] > 0 ) |
| 518 | { |
| 519 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
| 520 | |
| 521 | if (axis_speed > max_speeds[axis]) |
| 522 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
| 523 | } |
| 524 | } |
| 525 | |
| 526 | // find actuator position given cartesian position |
| 527 | arm_solution->cartesian_to_actuator( target, actuator_pos ); |
| 528 | |
| 529 | // check per-actuator speed limits |
| 530 | for (int actuator = 0; actuator <= 2; actuator++) |
| 531 | { |
| 532 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel; |
| 533 | |
| 534 | if (actuator_rate > actuators[actuator]->max_rate) |
| 535 | rate_mm_s *= (actuators[actuator]->max_rate / actuator_rate); |
| 536 | } |
| 537 | |
| 538 | // Append the block to the planner |
| 539 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
| 540 | |
| 541 | // Update the last_milestone to the current target for the next time we use last_milestone |
| 542 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
| 543 | |
| 544 | } |
| 545 | |
| 546 | // Append a move to the queue ( cutting it into segments if needed ) |
| 547 | void Robot::append_line(Gcode* gcode, float target[], float rate_mm_s ){ |
| 548 | |
| 549 | // Find out the distance for this gcode |
| 550 | gcode->millimeters_of_travel = pow( target[X_AXIS]-this->last_milestone[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->last_milestone[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->last_milestone[Z_AXIS], 2 ); |
| 551 | |
| 552 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
| 553 | if( gcode->millimeters_of_travel < 1e-8F ){ |
| 554 | return; |
| 555 | } |
| 556 | |
| 557 | gcode->millimeters_of_travel = sqrtf(gcode->millimeters_of_travel); |
| 558 | |
| 559 | // Mark the gcode as having a known distance |
| 560 | this->distance_in_gcode_is_known( gcode ); |
| 561 | |
| 562 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
| 563 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. |
| 564 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second The latter is more efficient and avoids splitting fast long lines into very small segments, like initial z move to 0, it is what Johanns Marlin delta port does |
| 565 | uint16_t segments; |
| 566 | |
| 567 | if(this->delta_segments_per_second > 1.0F) { |
| 568 | // enabled if set to something > 1, it is set to 0.0 by default |
| 569 | // segment based on current speed and requested segments per second |
| 570 | // the faster the travel speed the fewer segments needed |
| 571 | // NOTE rate is mm/sec and we take into account any speed override |
| 572 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
| 573 | segments= max(1, ceil(this->delta_segments_per_second * seconds)); |
| 574 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
| 575 | |
| 576 | }else{ |
| 577 | if(this->mm_per_line_segment == 0.0F){ |
| 578 | segments= 1; // don't split it up |
| 579 | }else{ |
| 580 | segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); |
| 581 | } |
| 582 | } |
| 583 | |
| 584 | if (segments > 1) |
| 585 | { |
| 586 | // A vector to keep track of the endpoint of each segment |
| 587 | float segment_delta[3]; |
| 588 | float segment_end[3]; |
| 589 | |
| 590 | // How far do we move each segment? |
| 591 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
| 592 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
| 593 | |
| 594 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
| 595 | // We always add another point after this loop so we stop at segments-1, ie i < segments |
| 596 | for (int i = 1; i < segments; i++) |
| 597 | { |
| 598 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ) |
| 599 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
| 600 | |
| 601 | // Append the end of this segment to the queue |
| 602 | this->append_milestone(segment_end, rate_mm_s); |
| 603 | } |
| 604 | } |
| 605 | |
| 606 | // Append the end of this full move to the queue |
| 607 | this->append_milestone(target, rate_mm_s); |
| 608 | |
| 609 | // if adding these blocks didn't start executing, do that now |
| 610 | THEKERNEL->conveyor->ensure_running(); |
| 611 | } |
| 612 | |
| 613 | |
| 614 | // Append an arc to the queue ( cutting it into segments as needed ) |
| 615 | void Robot::append_arc(Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ){ |
| 616 | |
| 617 | // Scary math |
| 618 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
| 619 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; |
| 620 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; |
| 621 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
| 622 | float r_axis1 = -offset[this->plane_axis_1]; |
| 623 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; |
| 624 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; |
| 625 | |
| 626 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
| 627 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
| 628 | if (angular_travel < 0) { angular_travel += 2*M_PI; } |
| 629 | if (is_clockwise) { angular_travel -= 2*M_PI; } |
| 630 | |
| 631 | // Find the distance for this gcode |
| 632 | gcode->millimeters_of_travel = hypotf(angular_travel*radius, fabs(linear_travel)); |
| 633 | |
| 634 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
| 635 | if( gcode->millimeters_of_travel < 0.0001F ){ return; } |
| 636 | |
| 637 | // Mark the gcode as having a known distance |
| 638 | this->distance_in_gcode_is_known( gcode ); |
| 639 | |
| 640 | // Figure out how many segments for this gcode |
| 641 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
| 642 | |
| 643 | float theta_per_segment = angular_travel/segments; |
| 644 | float linear_per_segment = linear_travel/segments; |
| 645 | |
| 646 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, |
| 647 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. |
| 648 | r_T = [cos(phi) -sin(phi); |
| 649 | sin(phi) cos(phi] * r ; |
| 650 | For arc generation, the center of the circle is the axis of rotation and the radius vector is |
| 651 | defined from the circle center to the initial position. Each line segment is formed by successive |
| 652 | vector rotations. This requires only two cos() and sin() computations to form the rotation |
| 653 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since |
| 654 | all float numbers are single precision on the Arduino. (True float precision will not have |
| 655 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
| 656 | tool precision in some cases. Therefore, arc path correction is implemented. |
| 657 | |
| 658 | Small angle approximation may be used to reduce computation overhead further. This approximation |
| 659 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, |
| 660 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large |
| 661 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for |
| 662 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an |
| 663 | issue for CNC machines with the single precision Arduino calculations. |
| 664 | This approximation also allows mc_arc to immediately insert a line segment into the planner |
| 665 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied |
| 666 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. |
| 667 | This is important when there are successive arc motions. |
| 668 | */ |
| 669 | // Vector rotation matrix values |
| 670 | float cos_T = 1-0.5F*theta_per_segment*theta_per_segment; // Small angle approximation |
| 671 | float sin_T = theta_per_segment; |
| 672 | |
| 673 | float arc_target[3]; |
| 674 | float sin_Ti; |
| 675 | float cos_Ti; |
| 676 | float r_axisi; |
| 677 | uint16_t i; |
| 678 | int8_t count = 0; |
| 679 | |
| 680 | // Initialize the linear axis |
| 681 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
| 682 | |
| 683 | for (i = 1; i<segments; i++) { // Increment (segments-1) |
| 684 | |
| 685 | if (count < this->arc_correction ) { |
| 686 | // Apply vector rotation matrix |
| 687 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; |
| 688 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; |
| 689 | r_axis1 = r_axisi; |
| 690 | count++; |
| 691 | } else { |
| 692 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
| 693 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). |
| 694 | cos_Ti = cosf(i*theta_per_segment); |
| 695 | sin_Ti = sinf(i*theta_per_segment); |
| 696 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; |
| 697 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; |
| 698 | count = 0; |
| 699 | } |
| 700 | |
| 701 | // Update arc_target location |
| 702 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; |
| 703 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; |
| 704 | arc_target[this->plane_axis_2] += linear_per_segment; |
| 705 | |
| 706 | // Append this segment to the queue |
| 707 | this->append_milestone(arc_target, this->feed_rate / seconds_per_minute); |
| 708 | |
| 709 | } |
| 710 | |
| 711 | // Ensure last segment arrives at target location. |
| 712 | this->append_milestone(target, this->feed_rate / seconds_per_minute); |
| 713 | } |
| 714 | |
| 715 | // Do the math for an arc and add it to the queue |
| 716 | void Robot::compute_arc(Gcode* gcode, float offset[], float target[]){ |
| 717 | |
| 718 | // Find the radius |
| 719 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
| 720 | |
| 721 | // Set clockwise/counter-clockwise sign for mc_arc computations |
| 722 | bool is_clockwise = false; |
| 723 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
| 724 | |
| 725 | // Append arc |
| 726 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
| 727 | |
| 728 | } |
| 729 | |
| 730 | |
| 731 | float Robot::theta(float x, float y){ |
| 732 | float t = atanf(x/fabs(y)); |
| 733 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} |
| 734 | } |
| 735 | |
| 736 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ |
| 737 | this->plane_axis_0 = axis_0; |
| 738 | this->plane_axis_1 = axis_1; |
| 739 | this->plane_axis_2 = axis_2; |
| 740 | } |
| 741 | |
| 742 | |