| 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 "mbed.h" // for us_ticker_read() |
| 12 | |
| 13 | #include <math.h> |
| 14 | #include <string> |
| 15 | using std::string; |
| 16 | |
| 17 | #include "Planner.h" |
| 18 | #include "Conveyor.h" |
| 19 | #include "Robot.h" |
| 20 | #include "nuts_bolts.h" |
| 21 | #include "Pin.h" |
| 22 | #include "StepperMotor.h" |
| 23 | #include "Gcode.h" |
| 24 | #include "PublicDataRequest.h" |
| 25 | #include "PublicData.h" |
| 26 | #include "arm_solutions/BaseSolution.h" |
| 27 | #include "arm_solutions/CartesianSolution.h" |
| 28 | #include "arm_solutions/RotatableCartesianSolution.h" |
| 29 | #include "arm_solutions/LinearDeltaSolution.h" |
| 30 | #include "arm_solutions/RotatableDeltaSolution.h" |
| 31 | #include "arm_solutions/HBotSolution.h" |
| 32 | #include "arm_solutions/CoreXZSolution.h" |
| 33 | #include "arm_solutions/MorganSCARASolution.h" |
| 34 | #include "StepTicker.h" |
| 35 | #include "checksumm.h" |
| 36 | #include "utils.h" |
| 37 | #include "ConfigValue.h" |
| 38 | #include "libs/StreamOutput.h" |
| 39 | #include "StreamOutputPool.h" |
| 40 | #include "ExtruderPublicAccess.h" |
| 41 | |
| 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") |
| 51 | |
| 52 | // arm solutions |
| 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") |
| 57 | #define linear_delta_checksum CHECKSUM("linear_delta") |
| 58 | #define rotatable_delta_checksum CHECKSUM("rotatable_delta") |
| 59 | #define delta_checksum CHECKSUM("delta") |
| 60 | #define hbot_checksum CHECKSUM("hbot") |
| 61 | #define corexy_checksum CHECKSUM("corexy") |
| 62 | #define corexz_checksum CHECKSUM("corexz") |
| 63 | #define kossel_checksum CHECKSUM("kossel") |
| 64 | #define morgan_checksum CHECKSUM("morgan") |
| 65 | |
| 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") |
| 74 | #define max_rate_checksum CHECKSUM("max_rate") |
| 75 | |
| 76 | #define alpha_checksum CHECKSUM("alpha") |
| 77 | #define beta_checksum CHECKSUM("beta") |
| 78 | #define gamma_checksum CHECKSUM("gamma") |
| 79 | |
| 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 | |
| 101 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians) |
| 102 | |
| 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 | |
| 106 | Robot::Robot() |
| 107 | { |
| 108 | this->inch_mode = false; |
| 109 | this->absolute_mode = true; |
| 110 | this->motion_mode = MOTION_MODE_SEEK; |
| 111 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
| 112 | clear_vector(this->last_milestone); |
| 113 | clear_vector(this->last_machine_position); |
| 114 | this->arm_solution = NULL; |
| 115 | seconds_per_minute = 60.0F; |
| 116 | this->clearToolOffset(); |
| 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); |
| 120 | this->next_command_is_MCS = false; |
| 121 | } |
| 122 | |
| 123 | //Called when the module has just been loaded |
| 124 | void Robot::on_module_loaded() |
| 125 | { |
| 126 | this->register_for_event(ON_GCODE_RECEIVED); |
| 127 | |
| 128 | // Configuration |
| 129 | this->load_config(); |
| 130 | } |
| 131 | |
| 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 | } |
| 139 | |
| 140 | void Robot::load_config() |
| 141 | { |
| 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. |
| 145 | // Here we read the config to find out which arm solution to use |
| 146 | if (this->arm_solution) delete this->arm_solution; |
| 147 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
| 148 | // Note checksums are not const expressions when in debug mode, so don't use switch |
| 149 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
| 150 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
| 151 | |
| 152 | } else if(solution_checksum == corexz_checksum) { |
| 153 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); |
| 154 | |
| 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); |
| 157 | |
| 158 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
| 159 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
| 160 | |
| 161 | } else if(solution_checksum == rotatable_delta_checksum) { |
| 162 | this->arm_solution = new RotatableDeltaSolution(THEKERNEL->config); |
| 163 | |
| 164 | } else if(solution_checksum == morgan_checksum) { |
| 165 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); |
| 166 | |
| 167 | } else if(solution_checksum == cartesian_checksum) { |
| 168 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
| 169 | |
| 170 | } else { |
| 171 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
| 172 | } |
| 173 | |
| 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(); |
| 180 | |
| 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; |
| 184 | |
| 185 | // Make our 3 StepperMotors |
| 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 | }; |
| 196 | constexpr size_t actuator_checksum_count = sizeof(checksums) / sizeof(checksums[0]); |
| 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 | } |
| 205 | actuators[a] = new StepperMotor(pins[0], pins[1], pins[2]); |
| 206 | |
| 207 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
| 208 | actuators[a]->set_max_rate(THEKERNEL->config->value(checksums[a][4])->by_default(30000.0F)->as_number()); |
| 209 | } |
| 210 | |
| 211 | check_max_actuator_speeds(); // check the configs are sane |
| 212 | |
| 213 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
| 214 | // so the first move can be correct if homing is not performed |
| 215 | ActuatorCoordinates actuator_pos; |
| 216 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
| 217 | for (size_t i = 0; i < actuators.size(); i++) |
| 218 | actuators[i]->change_last_milestone(actuator_pos[i]); |
| 219 | |
| 220 | //this->clearToolOffset(); |
| 221 | } |
| 222 | |
| 223 | void Robot::push_state() |
| 224 | { |
| 225 | bool am = this->absolute_mode; |
| 226 | bool im = this->inch_mode; |
| 227 | saved_state_t s(this->feed_rate, this->seek_rate, am, im, current_wcs); |
| 228 | state_stack.push(s); |
| 229 | } |
| 230 | |
| 231 | void Robot::pop_state() |
| 232 | { |
| 233 | if(!state_stack.empty()) { |
| 234 | auto s = state_stack.top(); |
| 235 | state_stack.pop(); |
| 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); |
| 240 | this->current_wcs = std::get<4>(s); |
| 241 | } |
| 242 | } |
| 243 | |
| 244 | int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const |
| 245 | { |
| 246 | // M114.1 is a new way to do this (similar to how GRBL does it). |
| 247 | // it returns the realtime position based on the current step position of the actuators. |
| 248 | // this does require a FK to get a machine position from the actuator position |
| 249 | // and then invert all the transforms to get a workspace position from machine position |
| 250 | // M114 just does it the old way uses last_milestone and does inversse tranfroms to get the requested position |
| 251 | int n = 0; |
| 252 | if(subcode == 0) { // M114 print WCS |
| 253 | wcs_t pos= mcs2wcs(last_milestone); |
| 254 | n = snprintf(buf, bufsize, "C: X:%1.3f Y:%1.3f Z:%1.3f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
| 255 | |
| 256 | } else if(subcode == 4) { // M114.3 print last milestone (which should be the same as machine position if axis are not moving and no level compensation) |
| 257 | n = snprintf(buf, bufsize, "LMS: X:%1.3f Y:%1.3f Z:%1.3f", last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); |
| 258 | |
| 259 | } else if(subcode == 5) { // M114.4 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) |
| 260 | n = snprintf(buf, bufsize, "LMCS: X:%1.3f Y:%1.3f Z:%1.3f", last_machine_position[X_AXIS], last_machine_position[Y_AXIS], last_machine_position[Z_AXIS]); |
| 261 | |
| 262 | } else { |
| 263 | // get real time positions |
| 264 | // current actuator position in mm |
| 265 | ActuatorCoordinates current_position{ |
| 266 | actuators[X_AXIS]->get_current_position(), |
| 267 | actuators[Y_AXIS]->get_current_position(), |
| 268 | actuators[Z_AXIS]->get_current_position() |
| 269 | }; |
| 270 | |
| 271 | // get machine position from the actuator position using FK |
| 272 | float mpos[3]; |
| 273 | arm_solution->actuator_to_cartesian(current_position, mpos); |
| 274 | |
| 275 | if(subcode == 1) { // M114.1 print realtime WCS |
| 276 | // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little) |
| 277 | wcs_t pos= mcs2wcs(mpos); |
| 278 | n = snprintf(buf, bufsize, "C: X:%1.3f Y:%1.3f Z:%1.3f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
| 279 | |
| 280 | } else if(subcode == 2) { // M114.1 print realtime Machine coordinate system |
| 281 | n = snprintf(buf, bufsize, "MPOS: X:%1.3f Y:%1.3f Z:%1.3f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
| 282 | |
| 283 | } else if(subcode == 3) { // M114.2 print realtime actuator position |
| 284 | n = snprintf(buf, bufsize, "APOS: A:%1.3f B:%1.3f C:%1.3f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
| 285 | } |
| 286 | } |
| 287 | return n; |
| 288 | } |
| 289 | |
| 290 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
| 291 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency |
| 292 | void Robot::check_max_actuator_speeds() |
| 293 | { |
| 294 | for (size_t i = 0; i < actuators.size(); i++) { |
| 295 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
| 296 | if (step_freq > THEKERNEL->base_stepping_frequency) { |
| 297 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); |
| 298 | 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); |
| 299 | } |
| 300 | } |
| 301 | } |
| 302 | |
| 303 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
| 304 | Robot::wcs_t Robot::mcs2wcs(const float *pos) const |
| 305 | { |
| 306 | return std::make_tuple( |
| 307 | pos[X_AXIS] - std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset) - std::get<X_AXIS>(tool_offset), |
| 308 | pos[Y_AXIS] - std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset) - std::get<Y_AXIS>(tool_offset), |
| 309 | pos[Z_AXIS] - std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset) - std::get<Z_AXIS>(tool_offset) |
| 310 | ); |
| 311 | } |
| 312 | |
| 313 | //A GCode has been received |
| 314 | //See if the current Gcode line has some orders for us |
| 315 | void Robot::on_gcode_received(void *argument) |
| 316 | { |
| 317 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 318 | |
| 319 | this->motion_mode = -1; |
| 320 | |
| 321 | if( gcode->has_g) { |
| 322 | switch( gcode->g ) { |
| 323 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; |
| 324 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; |
| 325 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; |
| 326 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; |
| 327 | case 4: { // G4 pause |
| 328 | uint32_t delay_ms = 0; |
| 329 | if (gcode->has_letter('P')) { |
| 330 | delay_ms = gcode->get_int('P'); |
| 331 | } |
| 332 | if (gcode->has_letter('S')) { |
| 333 | delay_ms += gcode->get_int('S') * 1000; |
| 334 | } |
| 335 | if (delay_ms > 0) { |
| 336 | // drain queue |
| 337 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 338 | // wait for specified time |
| 339 | uint32_t start = us_ticker_read(); // mbed call |
| 340 | while ((us_ticker_read() - start) < delay_ms * 1000) { |
| 341 | THEKERNEL->call_event(ON_IDLE, this); |
| 342 | if(THEKERNEL->is_halted()) return; |
| 343 | } |
| 344 | } |
| 345 | } |
| 346 | break; |
| 347 | |
| 348 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
| 349 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
| 350 | size_t n = gcode->get_uint('P'); |
| 351 | if(n == 0) n = current_wcs; // set current coordinate system |
| 352 | else --n; |
| 353 | if(n < k_max_wcs) { |
| 354 | float x, y, z; |
| 355 | std::tie(x, y, z) = wcs_offsets[n]; |
| 356 | if(gcode->get_int('L') == 20) { |
| 357 | // this makes the current machine position (less compensation transform) the offset |
| 358 | if(gcode->has_letter('X')) { x = to_millimeters(gcode->get_value('X')) - last_milestone[X_AXIS]; } |
| 359 | if(gcode->has_letter('Y')) { x = to_millimeters(gcode->get_value('Y')) - last_milestone[Y_AXIS]; } |
| 360 | if(gcode->has_letter('Z')) { x = to_millimeters(gcode->get_value('Z')) - last_milestone[Z_AXIS]; } |
| 361 | } else { |
| 362 | // the value is the offset from machine zero |
| 363 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); |
| 364 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); |
| 365 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); |
| 366 | } |
| 367 | wcs_offsets[n] = wcs_t(x, y, z); |
| 368 | } |
| 369 | } |
| 370 | break; |
| 371 | |
| 372 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
| 373 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; |
| 374 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; |
| 375 | case 20: this->inch_mode = true; break; |
| 376 | case 21: this->inch_mode = false; break; |
| 377 | |
| 378 | case 54: case 55: case 56: case 57: case 58: case 59: |
| 379 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 |
| 380 | current_wcs = gcode->g - 54; |
| 381 | if(gcode->g == 59 && gcode->subcode > 0) { |
| 382 | current_wcs += gcode->subcode; |
| 383 | if(current_wcs >= k_max_wcs) current_wcs = k_max_wcs - 1; |
| 384 | } |
| 385 | break; |
| 386 | |
| 387 | case 90: this->absolute_mode = true; break; |
| 388 | case 91: this->absolute_mode = false; break; |
| 389 | |
| 390 | case 92: { |
| 391 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
| 392 | // reset G92 offsets to 0 |
| 393 | g92_offset = wcs_t(0, 0, 0); |
| 394 | |
| 395 | } else { |
| 396 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
| 397 | float x, y, z; |
| 398 | std::tie(x, y, z) = g92_offset; |
| 399 | // get current position in WCS |
| 400 | wcs_t pos= mcs2wcs(last_milestone); |
| 401 | |
| 402 | // adjust g92 offset to make the current wpos == the value requested |
| 403 | if(gcode->has_letter('X')){ |
| 404 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); |
| 405 | } |
| 406 | |
| 407 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')) - last_milestone[Y_AXIS] - std::get<Y_AXIS>(wcs_offsets[current_wcs]) - std::get<Y_AXIS>(tool_offset); |
| 408 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')) - last_milestone[Z_AXIS] - std::get<Z_AXIS>(wcs_offsets[current_wcs]) - std::get<Z_AXIS>(tool_offset); |
| 409 | g92_offset = wcs_t(x, y, z); |
| 410 | } |
| 411 | |
| 412 | return; |
| 413 | } |
| 414 | } |
| 415 | |
| 416 | } else if( gcode->has_m) { |
| 417 | switch( gcode->m ) { |
| 418 | case 2: // M2 end of program |
| 419 | current_wcs = 0; |
| 420 | absolute_mode = true; |
| 421 | break; |
| 422 | |
| 423 | case 92: // M92 - set steps per mm |
| 424 | if (gcode->has_letter('X')) |
| 425 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
| 426 | if (gcode->has_letter('Y')) |
| 427 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
| 428 | if (gcode->has_letter('Z')) |
| 429 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
| 430 | if (gcode->has_letter('F')) |
| 431 | seconds_per_minute = gcode->get_value('F'); |
| 432 | |
| 433 | 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); |
| 434 | gcode->add_nl = true; |
| 435 | check_max_actuator_speeds(); |
| 436 | return; |
| 437 | |
| 438 | case 114:{ |
| 439 | char buf[64]; |
| 440 | int n= print_position(gcode->subcode, buf, sizeof buf); |
| 441 | if(n > 0) gcode->txt_after_ok.append(buf, n); |
| 442 | return; |
| 443 | } |
| 444 | |
| 445 | case 120: // push state |
| 446 | push_state(); |
| 447 | break; |
| 448 | |
| 449 | case 121: // pop state |
| 450 | pop_state(); |
| 451 | break; |
| 452 | |
| 453 | case 203: // M203 Set maximum feedrates in mm/sec |
| 454 | if (gcode->has_letter('X')) |
| 455 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
| 456 | if (gcode->has_letter('Y')) |
| 457 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
| 458 | if (gcode->has_letter('Z')) |
| 459 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
| 460 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
| 461 | if (gcode->has_letter('A' + i)) |
| 462 | actuators[i]->set_max_rate(gcode->get_value('A' + i)); |
| 463 | } |
| 464 | check_max_actuator_speeds(); |
| 465 | |
| 466 | if(gcode->get_num_args() == 0) { |
| 467 | gcode->stream->printf("X:%g Y:%g Z:%g", |
| 468 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); |
| 469 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
| 470 | gcode->stream->printf(" %c : %g", 'A' + i, actuators[i]->get_max_rate()); //xxx |
| 471 | } |
| 472 | gcode->add_nl = true; |
| 473 | } |
| 474 | break; |
| 475 | |
| 476 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
| 477 | if (gcode->has_letter('S')) { |
| 478 | float acc = gcode->get_value('S'); // mm/s^2 |
| 479 | // enforce minimum |
| 480 | if (acc < 1.0F) |
| 481 | acc = 1.0F; |
| 482 | THEKERNEL->planner->acceleration = acc; |
| 483 | } |
| 484 | if (gcode->has_letter('Z')) { |
| 485 | float acc = gcode->get_value('Z'); // mm/s^2 |
| 486 | // enforce positive |
| 487 | if (acc < 0.0F) |
| 488 | acc = 0.0F; |
| 489 | THEKERNEL->planner->z_acceleration = acc; |
| 490 | } |
| 491 | break; |
| 492 | |
| 493 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate |
| 494 | if (gcode->has_letter('X')) { |
| 495 | float jd = gcode->get_value('X'); |
| 496 | // enforce minimum |
| 497 | if (jd < 0.0F) |
| 498 | jd = 0.0F; |
| 499 | THEKERNEL->planner->junction_deviation = jd; |
| 500 | } |
| 501 | if (gcode->has_letter('Z')) { |
| 502 | float jd = gcode->get_value('Z'); |
| 503 | // enforce minimum, -1 disables it and uses regular junction deviation |
| 504 | if (jd < -1.0F) |
| 505 | jd = -1.0F; |
| 506 | THEKERNEL->planner->z_junction_deviation = jd; |
| 507 | } |
| 508 | if (gcode->has_letter('S')) { |
| 509 | float mps = gcode->get_value('S'); |
| 510 | // enforce minimum |
| 511 | if (mps < 0.0F) |
| 512 | mps = 0.0F; |
| 513 | THEKERNEL->planner->minimum_planner_speed = mps; |
| 514 | } |
| 515 | if (gcode->has_letter('Y')) { |
| 516 | actuators[0]->default_minimum_actuator_rate = gcode->get_value('Y'); |
| 517 | } |
| 518 | break; |
| 519 | |
| 520 | case 220: // M220 - speed override percentage |
| 521 | if (gcode->has_letter('S')) { |
| 522 | float factor = gcode->get_value('S'); |
| 523 | // enforce minimum 10% speed |
| 524 | if (factor < 10.0F) |
| 525 | factor = 10.0F; |
| 526 | // enforce maximum 10x speed |
| 527 | if (factor > 1000.0F) |
| 528 | factor = 1000.0F; |
| 529 | |
| 530 | seconds_per_minute = 6000.0F / factor; |
| 531 | } else { |
| 532 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
| 533 | } |
| 534 | break; |
| 535 | |
| 536 | case 400: // wait until all moves are done up to this point |
| 537 | THEKERNEL->conveyor->wait_for_empty_queue(); |
| 538 | break; |
| 539 | |
| 540 | case 500: // M500 saves some volatile settings to config override file |
| 541 | case 503: { // M503 just prints the settings |
| 542 | 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); |
| 543 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
| 544 | 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); |
| 545 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f", |
| 546 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); |
| 547 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
| 548 | gcode->stream->printf(" %c%1.5f", 'A' + i, actuators[i]->get_max_rate()); |
| 549 | } |
| 550 | gcode->stream->printf("\n"); |
| 551 | |
| 552 | // get or save any arm solution specific optional values |
| 553 | BaseSolution::arm_options_t options; |
| 554 | if(arm_solution->get_optional(options) && !options.empty()) { |
| 555 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); |
| 556 | for(auto &i : options) { |
| 557 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
| 558 | } |
| 559 | gcode->stream->printf("\n"); |
| 560 | } |
| 561 | |
| 562 | // save wcs_offsets and current_wcs |
| 563 | // TODO this may need to be done whenever they change to be compliant |
| 564 | gcode->stream->printf(";WCS settings\n"); |
| 565 | gcode->stream->printf("G5%c", std::min(current_wcs, (uint8_t)5) + '4'); |
| 566 | if(current_wcs >= 6) { |
| 567 | gcode->stream->printf(".%c\n", '1' + (current_wcs - 6)); |
| 568 | } else { |
| 569 | gcode->stream->printf("\n"); |
| 570 | } |
| 571 | int n = 1; |
| 572 | for(auto &i : wcs_offsets) { |
| 573 | if(i != wcs_t(0, 0, 0)) { |
| 574 | float x, y, z; |
| 575 | std::tie(x, y, z) = i; |
| 576 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f\n", n, x, y, z); |
| 577 | } |
| 578 | ++n; |
| 579 | } |
| 580 | } |
| 581 | |
| 582 | if(gcode->m == 503) { |
| 583 | // just print the G92 setting as it is not saved |
| 584 | // TODO linuxcnc does seem to save G92, so maybe we should here too |
| 585 | if(g92_offset != wcs_t(0, 0, 0)) { |
| 586 | float x, y, z; |
| 587 | std::tie(x, y, z) = g92_offset; |
| 588 | gcode->stream->printf("G92 X%f Y%f Z%f ; NOT SAVED\n", x, y, z); |
| 589 | } |
| 590 | } |
| 591 | break; |
| 592 | |
| 593 | case 665: { // M665 set optional arm solution variables based on arm solution. |
| 594 | // the parameter args could be any letter each arm solution only accepts certain ones |
| 595 | BaseSolution::arm_options_t options = gcode->get_args(); |
| 596 | options.erase('S'); // don't include the S |
| 597 | options.erase('U'); // don't include the U |
| 598 | if(options.size() > 0) { |
| 599 | // set the specified options |
| 600 | arm_solution->set_optional(options); |
| 601 | } |
| 602 | options.clear(); |
| 603 | if(arm_solution->get_optional(options)) { |
| 604 | // foreach optional value |
| 605 | for(auto &i : options) { |
| 606 | // print all current values of supported options |
| 607 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); |
| 608 | gcode->add_nl = true; |
| 609 | } |
| 610 | } |
| 611 | |
| 612 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
| 613 | this->delta_segments_per_second = gcode->get_value('S'); |
| 614 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
| 615 | |
| 616 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
| 617 | this->mm_per_line_segment = gcode->get_value('U'); |
| 618 | this->delta_segments_per_second = 0; |
| 619 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); |
| 620 | } |
| 621 | |
| 622 | break; |
| 623 | } |
| 624 | } |
| 625 | } |
| 626 | |
| 627 | if( this->motion_mode >= 0) { |
| 628 | process_move(gcode); |
| 629 | } |
| 630 | |
| 631 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
| 632 | } |
| 633 | |
| 634 | // process a G0/G1/G2/G3 |
| 635 | void Robot::process_move(Gcode *gcode) |
| 636 | { |
| 637 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
| 638 | float param[3]{NAN, NAN, NAN}; |
| 639 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
| 640 | char letter= 'X'+i; |
| 641 | if( gcode->has_letter(letter) ) { |
| 642 | param[i] = this->to_millimeters(gcode->get_value(letter)); |
| 643 | } |
| 644 | } |
| 645 | |
| 646 | float offset[3]{0,0,0}; |
| 647 | for(char letter = 'I'; letter <= 'K'; letter++) { |
| 648 | if( gcode->has_letter(letter) ) { |
| 649 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); |
| 650 | } |
| 651 | } |
| 652 | |
| 653 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
| 654 | float target[3]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]}; |
| 655 | if(!next_command_is_MCS) { |
| 656 | if(this->absolute_mode) { |
| 657 | // apply wcs offsets and g92 offset and tool offset |
| 658 | if(!isnan(param[X_AXIS])) { |
| 659 | target[X_AXIS]= param[X_AXIS] + std::get<X_AXIS>(wcs_offsets[current_wcs]) - std::get<X_AXIS>(g92_offset) + std::get<X_AXIS>(tool_offset); |
| 660 | } |
| 661 | |
| 662 | if(!isnan(param[Y_AXIS])) { |
| 663 | target[Y_AXIS]= param[Y_AXIS] + std::get<Y_AXIS>(wcs_offsets[current_wcs]) - std::get<Y_AXIS>(g92_offset) + std::get<Y_AXIS>(tool_offset); |
| 664 | } |
| 665 | |
| 666 | if(!isnan(param[Z_AXIS])) { |
| 667 | target[Z_AXIS]= param[Z_AXIS] + std::get<Z_AXIS>(wcs_offsets[current_wcs]) - std::get<Z_AXIS>(g92_offset) + std::get<Z_AXIS>(tool_offset); |
| 668 | } |
| 669 | |
| 670 | }else{ |
| 671 | // they are deltas from the last_milestone if specified |
| 672 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
| 673 | if(!isnan(param[i])) target[i] = param[i] + last_milestone[i]; |
| 674 | } |
| 675 | } |
| 676 | |
| 677 | }else{ |
| 678 | // already in machine coordinates, we do not add tool offset for that |
| 679 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
| 680 | if(!isnan(param[i])) target[i] = param[i]; |
| 681 | } |
| 682 | } |
| 683 | |
| 684 | if( gcode->has_letter('F') ) { |
| 685 | if( this->motion_mode == MOTION_MODE_SEEK ) |
| 686 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
| 687 | else |
| 688 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
| 689 | } |
| 690 | |
| 691 | bool moved= false; |
| 692 | //Perform any physical actions |
| 693 | switch(this->motion_mode) { |
| 694 | case MOTION_MODE_CANCEL: |
| 695 | break; |
| 696 | case MOTION_MODE_SEEK: |
| 697 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); |
| 698 | break; |
| 699 | case MOTION_MODE_LINEAR: |
| 700 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); |
| 701 | break; |
| 702 | case MOTION_MODE_CW_ARC: |
| 703 | case MOTION_MODE_CCW_ARC: |
| 704 | moved= this->compute_arc(gcode, offset, target ); |
| 705 | break; |
| 706 | } |
| 707 | |
| 708 | if(moved) { |
| 709 | // set last_milestone to the calculated target |
| 710 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); |
| 711 | } |
| 712 | } |
| 713 | |
| 714 | // We received a new gcode, and one of the functions |
| 715 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
| 716 | // and continue |
| 717 | void Robot::distance_in_gcode_is_known(Gcode * gcode) |
| 718 | { |
| 719 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
| 720 | THEKERNEL->conveyor->append_gcode(gcode); |
| 721 | } |
| 722 | |
| 723 | // reset the machine position for all axis. Used for homing. |
| 724 | // During homing compensation is turned off (actually not used as it drives steppers directly) |
| 725 | // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled, |
| 726 | // so in those cases the final position is compensated. |
| 727 | void Robot::reset_axis_position(float x, float y, float z) |
| 728 | { |
| 729 | // these are set to the same as compensation was not used to get to the current position |
| 730 | last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x; |
| 731 | last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y; |
| 732 | last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z; |
| 733 | |
| 734 | // now set the actuator positions to match |
| 735 | ActuatorCoordinates actuator_pos; |
| 736 | arm_solution->cartesian_to_actuator(this->last_machine_position, actuator_pos); |
| 737 | for (size_t i = 0; i < actuators.size(); i++) |
| 738 | actuators[i]->change_last_milestone(actuator_pos[i]); |
| 739 | } |
| 740 | |
| 741 | // Reset the position for an axis (used in homing) |
| 742 | void Robot::reset_axis_position(float position, int axis) |
| 743 | { |
| 744 | last_milestone[axis] = position; |
| 745 | reset_axis_position(last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); |
| 746 | } |
| 747 | |
| 748 | // Use FK to find out where actuator is and reset to match |
| 749 | void Robot::reset_position_from_current_actuator_position() |
| 750 | { |
| 751 | ActuatorCoordinates actuator_pos; |
| 752 | for (size_t i = 0; i < actuators.size(); i++) { |
| 753 | actuator_pos[i] = actuators[i]->get_current_position(); |
| 754 | } |
| 755 | arm_solution->actuator_to_cartesian(actuator_pos, last_machine_position); |
| 756 | // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone |
| 757 | memcpy(last_milestone, last_machine_position, sizeof last_milestone); |
| 758 | |
| 759 | // now reset actuator correctly, NOTE this may lose a little precision |
| 760 | // NOTE I do not recall why this was necessary, maybe to correct for small errors in FK |
| 761 | // arm_solution->cartesian_to_actuator(last_machine_position, actuator_pos); |
| 762 | // for (size_t i = 0; i < actuators.size(); i++) |
| 763 | // actuators[i]->change_last_milestone(actuator_pos[i]); |
| 764 | } |
| 765 | |
| 766 | // Convert target (in machine coordinates) from millimeters to steps, and append this to the planner |
| 767 | // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes |
| 768 | // all transforms and is what we actually convert to actuator positions |
| 769 | bool Robot::append_milestone(Gcode * gcode, const float target[], float rate_mm_s) |
| 770 | { |
| 771 | float deltas[3]; |
| 772 | float unit_vec[3]; |
| 773 | ActuatorCoordinates actuator_pos; |
| 774 | float transformed_target[3]; // adjust target for bed compensation and WCS offsets |
| 775 | float millimeters_of_travel; |
| 776 | |
| 777 | // unity transform by default |
| 778 | memcpy(transformed_target, target, sizeof(transformed_target)); |
| 779 | |
| 780 | // check function pointer and call if set to transform the target to compensate for bed |
| 781 | if(compensationTransform) { |
| 782 | // some compensation strategies can transform XYZ, some just change Z |
| 783 | compensationTransform(transformed_target); |
| 784 | } |
| 785 | |
| 786 | // find distance moved by each axis, use transformed target from the current machine position |
| 787 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
| 788 | deltas[axis] = transformed_target[axis] - last_machine_position[axis]; |
| 789 | } |
| 790 | |
| 791 | // Compute how long this move moves, so we can attach it to the block for later use |
| 792 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
| 793 | |
| 794 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
| 795 | // 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 |
| 796 | if(millimeters_of_travel < 0.00001F) return false; |
| 797 | |
| 798 | // this is the machine position |
| 799 | memcpy(this->last_machine_position, transformed_target, sizeof(this->last_machine_position)); |
| 800 | |
| 801 | // find distance unit vector |
| 802 | for (int i = 0; i < 3; i++) |
| 803 | unit_vec[i] = deltas[i] / millimeters_of_travel; |
| 804 | |
| 805 | // Do not move faster than the configured cartesian limits |
| 806 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
| 807 | if ( max_speeds[axis] > 0 ) { |
| 808 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
| 809 | |
| 810 | if (axis_speed > max_speeds[axis]) |
| 811 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
| 812 | } |
| 813 | } |
| 814 | |
| 815 | // find actuator position given the machine position, use actual adjusted target |
| 816 | arm_solution->cartesian_to_actuator( this->last_machine_position, actuator_pos ); |
| 817 | |
| 818 | float isecs = rate_mm_s / millimeters_of_travel; |
| 819 | // check per-actuator speed limits |
| 820 | for (size_t actuator = 0; actuator < actuators.size(); actuator++) { |
| 821 | float actuator_rate = fabsf(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * isecs; |
| 822 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
| 823 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
| 824 | isecs = rate_mm_s / millimeters_of_travel; |
| 825 | } |
| 826 | } |
| 827 | |
| 828 | // Append the block to the planner |
| 829 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
| 830 | |
| 831 | return true; |
| 832 | } |
| 833 | |
| 834 | // Append a move to the queue ( cutting it into segments if needed ) |
| 835 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s ) |
| 836 | { |
| 837 | // Find out the distance for this move in MCS |
| 838 | // 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 |
| 839 | gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - last_milestone[Z_AXIS], 2 )); |
| 840 | |
| 841 | // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves ) |
| 842 | if( gcode->millimeters_of_travel < 0.00001F ) return false; |
| 843 | |
| 844 | // Mark the gcode as having a known distance |
| 845 | this->distance_in_gcode_is_known( gcode ); |
| 846 | |
| 847 | // if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit |
| 848 | // Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm |
| 849 | // We also check we are not exceeding the E max_speed for the current extruder |
| 850 | // We ask Extruder to do all the work, but as Extruder won't even see this gcode until after it has been planned |
| 851 | // we need to ask it now passing in the relevant data. |
| 852 | // NOTE we need to do this before we segment the line (for deltas) |
| 853 | if(gcode->has_letter('E')) { |
| 854 | float data[2]; |
| 855 | data[0] = gcode->get_value('E'); // E target (maybe absolute or relative) |
| 856 | data[1] = rate_mm_s / gcode->millimeters_of_travel; // inverted seconds for the move |
| 857 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
| 858 | rate_mm_s *= data[1]; |
| 859 | //THEKERNEL->streams->printf("Extruder has changed the rate by %f to %f\n", data[1], rate_mm_s); |
| 860 | } |
| 861 | } |
| 862 | |
| 863 | // We cut the line into smaller segments. This is only needed on a cartesian robot for zgrid, but always necessary for robots with rotational axes like Deltas. |
| 864 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
| 865 | // 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 |
| 866 | uint16_t segments; |
| 867 | |
| 868 | if(this->delta_segments_per_second > 1.0F) { |
| 869 | // enabled if set to something > 1, it is set to 0.0 by default |
| 870 | // segment based on current speed and requested segments per second |
| 871 | // the faster the travel speed the fewer segments needed |
| 872 | // NOTE rate is mm/sec and we take into account any speed override |
| 873 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
| 874 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
| 875 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
| 876 | |
| 877 | } else { |
| 878 | if(this->mm_per_line_segment == 0.0F) { |
| 879 | segments = 1; // don't split it up |
| 880 | } else { |
| 881 | segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment); |
| 882 | } |
| 883 | } |
| 884 | |
| 885 | bool moved= false; |
| 886 | if (segments > 1) { |
| 887 | // A vector to keep track of the endpoint of each segment |
| 888 | float segment_delta[3]; |
| 889 | float segment_end[3]; |
| 890 | |
| 891 | // How far do we move each segment? |
| 892 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
| 893 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
| 894 | |
| 895 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
| 896 | // We always add another point after this loop so we stop at segments-1, ie i < segments |
| 897 | for (int i = 1; i < segments; i++) { |
| 898 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
| 899 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
| 900 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
| 901 | |
| 902 | // Append the end of this segment to the queue |
| 903 | bool b= this->append_milestone(gcode, segment_end, rate_mm_s); |
| 904 | moved= moved || b; |
| 905 | } |
| 906 | } |
| 907 | |
| 908 | // Append the end of this full move to the queue |
| 909 | if(this->append_milestone(gcode, target, rate_mm_s)) moved= true; |
| 910 | |
| 911 | this->next_command_is_MCS = false; // always reset this |
| 912 | |
| 913 | if(moved) { |
| 914 | // if adding these blocks didn't start executing, do that now |
| 915 | THEKERNEL->conveyor->ensure_running(); |
| 916 | } |
| 917 | |
| 918 | return moved; |
| 919 | } |
| 920 | |
| 921 | |
| 922 | // Append an arc to the queue ( cutting it into segments as needed ) |
| 923 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
| 924 | { |
| 925 | |
| 926 | // Scary math |
| 927 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
| 928 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; |
| 929 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; |
| 930 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
| 931 | float r_axis1 = -offset[this->plane_axis_1]; |
| 932 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; |
| 933 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; |
| 934 | |
| 935 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
| 936 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
| 937 | float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
| 938 | if (is_clockwise) { // Correct atan2 output per direction |
| 939 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2 * M_PI; } |
| 940 | } else { |
| 941 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2 * M_PI; } |
| 942 | } |
| 943 | |
| 944 | // Find the distance for this gcode |
| 945 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
| 946 | |
| 947 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
| 948 | if( gcode->millimeters_of_travel < 0.00001F ) { |
| 949 | return false; |
| 950 | } |
| 951 | |
| 952 | // Mark the gcode as having a known distance |
| 953 | this->distance_in_gcode_is_known( gcode ); |
| 954 | |
| 955 | // Figure out how many segments for this gcode |
| 956 | uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
| 957 | |
| 958 | float theta_per_segment = angular_travel / segments; |
| 959 | float linear_per_segment = linear_travel / segments; |
| 960 | |
| 961 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, |
| 962 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. |
| 963 | r_T = [cos(phi) -sin(phi); |
| 964 | sin(phi) cos(phi] * r ; |
| 965 | For arc generation, the center of the circle is the axis of rotation and the radius vector is |
| 966 | defined from the circle center to the initial position. Each line segment is formed by successive |
| 967 | vector rotations. This requires only two cos() and sin() computations to form the rotation |
| 968 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since |
| 969 | all float numbers are single precision on the Arduino. (True float precision will not have |
| 970 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
| 971 | tool precision in some cases. Therefore, arc path correction is implemented. |
| 972 | |
| 973 | Small angle approximation may be used to reduce computation overhead further. This approximation |
| 974 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, |
| 975 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large |
| 976 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for |
| 977 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an |
| 978 | issue for CNC machines with the single precision Arduino calculations. |
| 979 | This approximation also allows mc_arc to immediately insert a line segment into the planner |
| 980 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied |
| 981 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. |
| 982 | This is important when there are successive arc motions. |
| 983 | */ |
| 984 | // Vector rotation matrix values |
| 985 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
| 986 | float sin_T = theta_per_segment; |
| 987 | |
| 988 | float arc_target[3]; |
| 989 | float sin_Ti; |
| 990 | float cos_Ti; |
| 991 | float r_axisi; |
| 992 | uint16_t i; |
| 993 | int8_t count = 0; |
| 994 | |
| 995 | // Initialize the linear axis |
| 996 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
| 997 | |
| 998 | bool moved= false; |
| 999 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
| 1000 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
| 1001 | |
| 1002 | if (count < this->arc_correction ) { |
| 1003 | // Apply vector rotation matrix |
| 1004 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; |
| 1005 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; |
| 1006 | r_axis1 = r_axisi; |
| 1007 | count++; |
| 1008 | } else { |
| 1009 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
| 1010 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). |
| 1011 | cos_Ti = cosf(i * theta_per_segment); |
| 1012 | sin_Ti = sinf(i * theta_per_segment); |
| 1013 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; |
| 1014 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; |
| 1015 | count = 0; |
| 1016 | } |
| 1017 | |
| 1018 | // Update arc_target location |
| 1019 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; |
| 1020 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; |
| 1021 | arc_target[this->plane_axis_2] += linear_per_segment; |
| 1022 | |
| 1023 | // Append this segment to the queue |
| 1024 | bool b= this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute); |
| 1025 | moved= moved || b; |
| 1026 | } |
| 1027 | |
| 1028 | // Ensure last segment arrives at target location. |
| 1029 | if(this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute)) moved= true; |
| 1030 | |
| 1031 | return moved; |
| 1032 | } |
| 1033 | |
| 1034 | // Do the math for an arc and add it to the queue |
| 1035 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[]) |
| 1036 | { |
| 1037 | |
| 1038 | // Find the radius |
| 1039 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
| 1040 | |
| 1041 | // Set clockwise/counter-clockwise sign for mc_arc computations |
| 1042 | bool is_clockwise = false; |
| 1043 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
| 1044 | is_clockwise = true; |
| 1045 | } |
| 1046 | |
| 1047 | // Append arc |
| 1048 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
| 1049 | } |
| 1050 | |
| 1051 | |
| 1052 | float Robot::theta(float x, float y) |
| 1053 | { |
| 1054 | float t = atanf(x / fabs(y)); |
| 1055 | if (y > 0) { |
| 1056 | return(t); |
| 1057 | } else { |
| 1058 | if (t > 0) { |
| 1059 | return(M_PI - t); |
| 1060 | } else { |
| 1061 | return(-M_PI - t); |
| 1062 | } |
| 1063 | } |
| 1064 | } |
| 1065 | |
| 1066 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
| 1067 | { |
| 1068 | this->plane_axis_0 = axis_0; |
| 1069 | this->plane_axis_1 = axis_1; |
| 1070 | this->plane_axis_2 = axis_2; |
| 1071 | } |
| 1072 | |
| 1073 | void Robot::clearToolOffset() |
| 1074 | { |
| 1075 | this->tool_offset= wcs_t(0,0,0); |
| 1076 | } |
| 1077 | |
| 1078 | void Robot::setToolOffset(const float offset[3]) |
| 1079 | { |
| 1080 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
| 1081 | } |
| 1082 | |