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/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
15 #include "StepperMotor.h"
17 #include "PublicDataRequest.h"
18 #include "PublicData.h"
19 #include "arm_solutions/BaseSolution.h"
20 #include "arm_solutions/CartesianSolution.h"
21 #include "arm_solutions/RotatableCartesianSolution.h"
22 #include "arm_solutions/LinearDeltaSolution.h"
23 #include "arm_solutions/RotaryDeltaSolution.h"
24 #include "arm_solutions/HBotSolution.h"
25 #include "arm_solutions/CoreXZSolution.h"
26 #include "arm_solutions/MorganSCARASolution.h"
27 #include "StepTicker.h"
28 #include "checksumm.h"
30 #include "ConfigValue.h"
31 #include "libs/StreamOutput.h"
32 #include "StreamOutputPool.h"
33 #include "ExtruderPublicAccess.h"
34 #include "GcodeDispatch.h"
35 #include "ActuatorCoordinates.h"
37 #include "mbed.h" // for us_ticker_read()
45 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
46 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
47 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
48 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
49 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
50 #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error")
51 #define arc_correction_checksum CHECKSUM("arc_correction")
52 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
53 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
54 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
55 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
56 #define save_g92_checksum CHECKSUM("save_g92")
59 #define arm_solution_checksum CHECKSUM("arm_solution")
60 #define cartesian_checksum CHECKSUM("cartesian")
61 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
62 #define rostock_checksum CHECKSUM("rostock")
63 #define linear_delta_checksum CHECKSUM("linear_delta")
64 #define rotary_delta_checksum CHECKSUM("rotary_delta")
65 #define delta_checksum CHECKSUM("delta")
66 #define hbot_checksum CHECKSUM("hbot")
67 #define corexy_checksum CHECKSUM("corexy")
68 #define corexz_checksum CHECKSUM("corexz")
69 #define kossel_checksum CHECKSUM("kossel")
70 #define morgan_checksum CHECKSUM("morgan")
72 // new-style actuator stuff
73 #define actuator_checksum CHEKCSUM("actuator")
75 #define step_pin_checksum CHECKSUM("step_pin")
76 #define dir_pin_checksum CHEKCSUM("dir_pin")
77 #define en_pin_checksum CHECKSUM("en_pin")
79 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
80 #define max_rate_checksum CHECKSUM("max_rate")
81 #define acceleration_checksum CHECKSUM("acceleration")
82 #define z_acceleration_checksum CHECKSUM("z_acceleration")
84 #define alpha_checksum CHECKSUM("alpha")
85 #define beta_checksum CHECKSUM("beta")
86 #define gamma_checksum CHECKSUM("gamma")
88 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
89 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
91 // The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue
92 // It takes care of cutting arcs into segments, same thing for line that are too long
96 this->inch_mode
= false;
97 this->absolute_mode
= true;
98 this->e_absolute_mode
= true;
99 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
100 memset(this->last_milestone
, 0, sizeof last_milestone
);
101 memset(this->last_machine_position
, 0, sizeof last_machine_position
);
102 this->arm_solution
= NULL
;
103 seconds_per_minute
= 60.0F
;
104 this->clearToolOffset();
105 this->compensationTransform
= nullptr;
106 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
107 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
108 this->next_command_is_MCS
= false;
109 this->disable_segmentation
= false;
113 //Called when the module has just been loaded
114 void Robot::on_module_loaded()
116 this->register_for_event(ON_GCODE_RECEIVED
);
122 #define ACTUATOR_CHECKSUMS(X) { \
123 CHECKSUM(X "_step_pin"), \
124 CHECKSUM(X "_dir_pin"), \
125 CHECKSUM(X "_en_pin"), \
126 CHECKSUM(X "_steps_per_mm"), \
127 CHECKSUM(X "_max_rate"), \
128 CHECKSUM(X "_acceleration") \
131 void Robot::load_config()
133 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
134 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
135 // To make adding those solution easier, they have their own, separate object.
136 // Here we read the config to find out which arm solution to use
137 if (this->arm_solution
) delete this->arm_solution
;
138 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
139 // Note checksums are not const expressions when in debug mode, so don't use switch
140 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
141 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
143 } else if(solution_checksum
== corexz_checksum
) {
144 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
146 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
147 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
149 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
150 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
152 } else if(solution_checksum
== rotary_delta_checksum
) {
153 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
155 } else if(solution_checksum
== morgan_checksum
) {
156 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
158 } else if(solution_checksum
== cartesian_checksum
) {
159 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
162 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
165 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
166 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
167 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
168 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
169 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
170 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
171 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
173 // in mm/sec but specified in config as mm/min
174 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
175 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
176 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
178 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
179 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
181 // Make our Primary XYZ StepperMotors
182 uint16_t const checksums
[][6] = {
183 ACTUATOR_CHECKSUMS("alpha"), // X
184 ACTUATOR_CHECKSUMS("beta"), // Y
185 ACTUATOR_CHECKSUMS("gamma"), // Z
188 // default acceleration setting, can be overriden with newer per axis settings
189 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
192 for (size_t a
= X_AXIS
; a
<= Z_AXIS
; a
++) {
193 Pin pins
[3]; //step, dir, enable
194 for (size_t i
= 0; i
< 3; i
++) {
195 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
197 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
198 // register this motor (NB This must be 0,1,2) of the actuators array
199 uint8_t n
= register_motor(sm
);
201 // this is a fatal error
202 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
206 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
207 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(checksums
[a
][4])->by_default(30000.0F
)->as_number()/60.0F
); // it is in mm/min and converted to mm/sec
208 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
211 check_max_actuator_speeds(); // check the configs are sane
213 // if we have not specified a z acceleration see if the legacy config was set
214 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
215 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
217 actuators
[Z_AXIS
]->set_acceleration(acc
);
221 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
222 // so the first move can be correct if homing is not performed
223 ActuatorCoordinates actuator_pos
;
224 arm_solution
->cartesian_to_actuator(last_milestone
, actuator_pos
);
225 for (size_t i
= 0; i
< n_motors
; i
++)
226 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
228 //this->clearToolOffset();
231 uint8_t Robot::register_motor(StepperMotor
*motor
)
233 // register this motor with the step ticker
234 THEKERNEL
->step_ticker
->register_motor(motor
);
235 if(n_motors
>= k_max_actuators
) {
236 // this is a fatal error
237 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
240 actuators
.push_back(motor
);
244 void Robot::push_state()
246 bool am
= this->absolute_mode
;
247 bool em
= this->e_absolute_mode
;
248 bool im
= this->inch_mode
;
249 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
253 void Robot::pop_state()
255 if(!state_stack
.empty()) {
256 auto s
= state_stack
.top();
258 this->feed_rate
= std::get
<0>(s
);
259 this->seek_rate
= std::get
<1>(s
);
260 this->absolute_mode
= std::get
<2>(s
);
261 this->e_absolute_mode
= std::get
<3>(s
);
262 this->inch_mode
= std::get
<4>(s
);
263 this->current_wcs
= std::get
<5>(s
);
267 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
269 std::vector
<wcs_t
> v
;
270 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
271 for(auto& i
: wcs_offsets
) {
274 v
.push_back(g92_offset
);
275 v
.push_back(tool_offset
);
279 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
281 // M114.1 is a new way to do this (similar to how GRBL does it).
282 // it returns the realtime position based on the current step position of the actuators.
283 // this does require a FK to get a machine position from the actuator position
284 // and then invert all the transforms to get a workspace position from machine position
285 // M114 just does it the old way uses last_milestone and does inversse transforms to get the requested position
287 if(subcode
== 0) { // M114 print WCS
288 wcs_t pos
= mcs2wcs(last_milestone
);
289 n
= snprintf(buf
, bufsize
, "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get
<X_AXIS
>(pos
)), from_millimeters(std::get
<Y_AXIS
>(pos
)), from_millimeters(std::get
<Z_AXIS
>(pos
)));
291 } else if(subcode
== 4) { // M114.4 print last milestone (which should be the same as machine position if axis are not moving and no level compensation)
292 n
= snprintf(buf
, bufsize
, "LMS: X:%1.4f Y:%1.4f Z:%1.4f", last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
294 } else if(subcode
== 5) { // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
295 n
= snprintf(buf
, bufsize
, "LMP: X:%1.4f Y:%1.4f Z:%1.4f", last_machine_position
[X_AXIS
], last_machine_position
[Y_AXIS
], last_machine_position
[Z_AXIS
]);
298 // get real time positions
299 // current actuator position in mm
300 ActuatorCoordinates current_position
{
301 actuators
[X_AXIS
]->get_current_position(),
302 actuators
[Y_AXIS
]->get_current_position(),
303 actuators
[Z_AXIS
]->get_current_position()
306 // get machine position from the actuator position using FK
308 arm_solution
->actuator_to_cartesian(current_position
, mpos
);
310 if(subcode
== 1) { // M114.1 print realtime WCS
311 // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little)
312 wcs_t pos
= mcs2wcs(mpos
);
313 n
= snprintf(buf
, bufsize
, "WPOS: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get
<X_AXIS
>(pos
)), from_millimeters(std::get
<Y_AXIS
>(pos
)), from_millimeters(std::get
<Z_AXIS
>(pos
)));
315 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
316 n
= snprintf(buf
, bufsize
, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
318 } else if(subcode
== 3) { // M114.3 print realtime actuator position
319 n
= snprintf(buf
, bufsize
, "APOS: A:%1.4f B:%1.4f C:%1.4f", current_position
[X_AXIS
], current_position
[Y_AXIS
], current_position
[Z_AXIS
]);
325 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
326 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
328 return std::make_tuple(
329 std::get
<X_AXIS
>(pos
) - std::get
<X_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<X_AXIS
>(g92_offset
) - std::get
<X_AXIS
>(tool_offset
),
330 std::get
<Y_AXIS
>(pos
) - std::get
<Y_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<Y_AXIS
>(g92_offset
) - std::get
<Y_AXIS
>(tool_offset
),
331 std::get
<Z_AXIS
>(pos
) - std::get
<Z_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<Z_AXIS
>(g92_offset
) - std::get
<Z_AXIS
>(tool_offset
)
335 // this does a sanity check that actuator speeds do not exceed steps rate capability
336 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
337 void Robot::check_max_actuator_speeds()
339 for (size_t i
= 0; i
< n_motors
; i
++) {
340 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
341 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
342 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
343 THEKERNEL
->streams
->printf("WARNING: actuator %d rate exceeds base_stepping_frequency * ..._steps_per_mm: %f, setting to %f\n", i
, step_freq
, actuators
[i
]->max_rate
);
348 //A GCode has been received
349 //See if the current Gcode line has some orders for us
350 void Robot::on_gcode_received(void *argument
)
352 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
354 enum MOTION_MODE_T motion_mode
= NONE
;
358 case 0: motion_mode
= SEEK
; break;
359 case 1: motion_mode
= LINEAR
; break;
360 case 2: motion_mode
= CW_ARC
; break;
361 case 3: motion_mode
= CCW_ARC
; break;
362 case 4: { // G4 pause
363 uint32_t delay_ms
= 0;
364 if (gcode
->has_letter('P')) {
365 delay_ms
= gcode
->get_int('P');
367 if (gcode
->has_letter('S')) {
368 delay_ms
+= gcode
->get_int('S') * 1000;
372 THEKERNEL
->conveyor
->wait_for_empty_queue();
373 // wait for specified time
374 uint32_t start
= us_ticker_read(); // mbed call
375 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
376 THEKERNEL
->call_event(ON_IDLE
, this);
377 if(THEKERNEL
->is_halted()) return;
383 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
384 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
385 size_t n
= gcode
->get_uint('P');
386 if(n
== 0) n
= current_wcs
; // set current coordinate system
390 std::tie(x
, y
, z
) = wcs_offsets
[n
];
391 if(gcode
->get_int('L') == 20) {
392 // this makes the current machine position (less compensation transform) the offset
393 // get current position in WCS
394 wcs_t pos
= mcs2wcs(last_milestone
);
396 if(gcode
->has_letter('X')){
397 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
400 if(gcode
->has_letter('Y')){
401 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
403 if(gcode
->has_letter('Z')) {
404 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
408 // the value is the offset from machine zero
409 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
410 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
411 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
413 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
418 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
419 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
420 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
421 case 20: this->inch_mode
= true; break;
422 case 21: this->inch_mode
= false; break;
424 case 54: case 55: case 56: case 57: case 58: case 59:
425 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
426 current_wcs
= gcode
->g
- 54;
427 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
428 current_wcs
+= gcode
->subcode
;
429 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
433 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
434 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
437 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
438 // reset G92 offsets to 0
439 g92_offset
= wcs_t(0, 0, 0);
441 } else if(gcode
->subcode
== 3) {
442 // initialize G92 to the specified values, only used for saving it with M500
443 float x
= 0, y
= 0, z
= 0;
444 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
445 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
446 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
447 g92_offset
= wcs_t(x
, y
, z
);
450 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
452 std::tie(x
, y
, z
) = g92_offset
;
453 // get current position in WCS
454 wcs_t pos
= mcs2wcs(last_milestone
);
456 // adjust g92 offset to make the current wpos == the value requested
457 if(gcode
->has_letter('X')){
458 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
460 if(gcode
->has_letter('Y')){
461 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
463 if(gcode
->has_letter('Z')) {
464 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
466 g92_offset
= wcs_t(x
, y
, z
);
469 #if MAX_ROBOT_ACTUATORS > 3
470 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
471 // reset the E position, legacy for 3d Printers to be reprap compatible
472 // find the selected extruder
473 // NOTE this will only work when E is 0 if volumetric and/or scaling is used as the actuator last milestone will be different if it was scaled
474 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
475 if(actuators
[i
]->is_selected()) {
476 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
477 last_milestone
[i
]= last_machine_position
[i
]= e
;
478 actuators
[i
]->change_last_milestone(e
);
489 } else if( gcode
->has_m
) {
491 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
492 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
495 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
496 if(!THEKERNEL
->is_grbl_mode()) break;
497 // fall through to M2
498 case 2: // M2 end of program
500 absolute_mode
= true;
503 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
506 case 18: // this used to support parameters, now it ignores them
508 THEKERNEL
->conveyor
->wait_for_empty_queue();
509 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
512 case 82: e_absolute_mode
= true; break;
513 case 83: e_absolute_mode
= false; break;
515 case 92: // M92 - set steps per mm
516 if (gcode
->has_letter('X'))
517 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
518 if (gcode
->has_letter('Y'))
519 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
520 if (gcode
->has_letter('Z'))
521 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
523 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->steps_per_mm
, actuators
[1]->steps_per_mm
, actuators
[2]->steps_per_mm
);
524 gcode
->add_nl
= true;
525 check_max_actuator_speeds();
530 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
531 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
535 case 120: // push state
539 case 121: // pop state
543 case 203: // M203 Set maximum feedrates in mm/sec
544 if (gcode
->has_letter('X'))
545 this->max_speeds
[X_AXIS
] = gcode
->get_value('X');
546 if (gcode
->has_letter('Y'))
547 this->max_speeds
[Y_AXIS
] = gcode
->get_value('Y');
548 if (gcode
->has_letter('Z'))
549 this->max_speeds
[Z_AXIS
] = gcode
->get_value('Z');
550 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
551 if (gcode
->has_letter('A' + i
))
552 actuators
[i
]->set_max_rate(gcode
->get_value('A' + i
));
554 check_max_actuator_speeds();
556 if(gcode
->get_num_args() == 0) {
557 gcode
->stream
->printf("X:%g Y:%g Z:%g",
558 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
559 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
560 gcode
->stream
->printf(" %c : %g", 'A' + i
, actuators
[i
]->get_max_rate()); //xxx
562 gcode
->add_nl
= true;
566 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
567 if (gcode
->has_letter('S')) {
568 float acc
= gcode
->get_value('S'); // mm/s^2
570 if (acc
< 1.0F
) acc
= 1.0F
;
571 this->default_acceleration
= acc
;
573 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
574 if (gcode
->has_letter(i
+'X')) {
575 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
577 if (acc
<= 0.0F
) acc
= NAN
;
578 actuators
[i
]->set_acceleration(acc
);
583 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate
584 if (gcode
->has_letter('X')) {
585 float jd
= gcode
->get_value('X');
589 THEKERNEL
->planner
->junction_deviation
= jd
;
591 if (gcode
->has_letter('Z')) {
592 float jd
= gcode
->get_value('Z');
593 // enforce minimum, -1 disables it and uses regular junction deviation
596 THEKERNEL
->planner
->z_junction_deviation
= jd
;
598 if (gcode
->has_letter('S')) {
599 float mps
= gcode
->get_value('S');
603 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
607 case 220: // M220 - speed override percentage
608 if (gcode
->has_letter('S')) {
609 float factor
= gcode
->get_value('S');
610 // enforce minimum 10% speed
613 // enforce maximum 10x speed
614 if (factor
> 1000.0F
)
617 seconds_per_minute
= 6000.0F
/ factor
;
619 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
623 case 400: // wait until all moves are done up to this point
624 THEKERNEL
->conveyor
->wait_for_empty_queue();
627 case 500: // M500 saves some volatile settings to config override file
628 case 503: { // M503 just prints the settings
629 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
);
631 // only print XYZ if not NAN
632 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
633 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
634 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
636 gcode
->stream
->printf("\n");
638 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
);
639 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",
640 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
],
641 actuators
[X_AXIS
]->get_max_rate(), actuators
[Y_AXIS
]->get_max_rate(), actuators
[Z_AXIS
]->get_max_rate());
642 gcode
->stream
->printf("\n");
644 // get or save any arm solution specific optional values
645 BaseSolution::arm_options_t options
;
646 if(arm_solution
->get_optional(options
) && !options
.empty()) {
647 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
648 for(auto &i
: options
) {
649 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
651 gcode
->stream
->printf("\n");
654 // save wcs_offsets and current_wcs
655 // TODO this may need to be done whenever they change to be compliant
656 gcode
->stream
->printf(";WCS settings\n");
657 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
659 for(auto &i
: wcs_offsets
) {
660 if(i
!= wcs_t(0, 0, 0)) {
662 std::tie(x
, y
, z
) = i
;
663 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
668 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
669 // also it needs to be used to set Z0 on rotary deltas as M206/306 can't be used, so saving it is necessary in that case
670 if(g92_offset
!= wcs_t(0, 0, 0)) {
672 std::tie(x
, y
, z
) = g92_offset
;
673 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
679 case 665: { // M665 set optional arm solution variables based on arm solution.
680 // the parameter args could be any letter each arm solution only accepts certain ones
681 BaseSolution::arm_options_t options
= gcode
->get_args();
682 options
.erase('S'); // don't include the S
683 options
.erase('U'); // don't include the U
684 if(options
.size() > 0) {
685 // set the specified options
686 arm_solution
->set_optional(options
);
689 if(arm_solution
->get_optional(options
)) {
690 // foreach optional value
691 for(auto &i
: options
) {
692 // print all current values of supported options
693 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
694 gcode
->add_nl
= true;
698 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
699 this->delta_segments_per_second
= gcode
->get_value('S');
700 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
702 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
703 this->mm_per_line_segment
= gcode
->get_value('U');
704 this->delta_segments_per_second
= 0;
705 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
713 if( motion_mode
!= NONE
) {
714 process_move(gcode
, motion_mode
);
717 next_command_is_MCS
= false; // must be on same line as G0 or G1
720 // process a G0/G1/G2/G3
721 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
723 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
724 float param
[4]{NAN
, NAN
, NAN
, NAN
};
726 // process primary axis
727 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
729 if( gcode
->has_letter(letter
) ) {
730 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
734 float offset
[3]{0,0,0};
735 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
736 if( gcode
->has_letter(letter
) ) {
737 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
741 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
742 float target
[n_motors
];
743 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
745 if(!next_command_is_MCS
) {
746 if(this->absolute_mode
) {
747 // apply wcs offsets and g92 offset and tool offset
748 if(!isnan(param
[X_AXIS
])) {
749 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
);
752 if(!isnan(param
[Y_AXIS
])) {
753 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
);
756 if(!isnan(param
[Z_AXIS
])) {
757 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
);
761 // they are deltas from the last_milestone if specified
762 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
763 if(!isnan(param
[i
])) target
[i
] = param
[i
] + last_milestone
[i
];
768 // already in machine coordinates, we do not add tool offset for that
769 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
770 if(!isnan(param
[i
])) target
[i
] = param
[i
];
774 // process extruder parameters, for active extruder only (only one active extruder at a time)
775 selected_extruder
= 0;
776 if(gcode
->has_letter('E')) {
777 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
778 // find first selected extruder
779 if(actuators
[i
]->is_selected()) {
780 param
[E_AXIS
]= gcode
->get_value('E');
781 selected_extruder
= i
;
787 // do E for the selected extruder
789 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
790 if(this->e_absolute_mode
) {
791 target
[selected_extruder
]= param
[E_AXIS
];
792 delta_e
= target
[selected_extruder
] - last_milestone
[selected_extruder
];
794 delta_e
= param
[E_AXIS
];
795 target
[selected_extruder
] = delta_e
+ last_milestone
[selected_extruder
];
799 if( gcode
->has_letter('F') ) {
800 if( motion_mode
== SEEK
)
801 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
803 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
808 // Perform any physical actions
809 switch(motion_mode
) {
813 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
817 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
822 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
823 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
828 // set last_milestone to the calculated target
829 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
833 // reset the machine position for all axis. Used for homing.
834 // During homing compensation is turned off (actually not used as it drives steppers directly)
835 // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
836 // so in those cases the final position is compensated.
837 void Robot::reset_axis_position(float x
, float y
, float z
)
839 // these are set to the same as compensation was not used to get to the current position
840 last_machine_position
[X_AXIS
]= last_milestone
[X_AXIS
] = x
;
841 last_machine_position
[Y_AXIS
]= last_milestone
[Y_AXIS
] = y
;
842 last_machine_position
[Z_AXIS
]= last_milestone
[Z_AXIS
] = z
;
844 // now set the actuator positions to match
845 ActuatorCoordinates actuator_pos
;
846 arm_solution
->cartesian_to_actuator(this->last_machine_position
, actuator_pos
);
847 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
848 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
851 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
852 void Robot::reset_axis_position(float position
, int axis
)
854 last_milestone
[axis
] = position
;
856 reset_axis_position(last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
858 // extruders need to be set not calculated
859 last_machine_position
[axis
]= position
;
863 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
864 // then sets the axis positions to match. currently only called from Endstops.cpp
865 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
867 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
868 actuators
[i
]->change_last_milestone(ac
[i
]);
870 // now correct axis positions then recorrect actuator to account for rounding
871 reset_position_from_current_actuator_position();
874 // Use FK to find out where actuator is and reset to match
875 void Robot::reset_position_from_current_actuator_position()
877 ActuatorCoordinates actuator_pos
;
878 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
879 // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort
880 actuator_pos
[i
] = actuators
[i
]->get_current_position();
883 // discover machine position from where actuators actually are
884 arm_solution
->actuator_to_cartesian(actuator_pos
, last_machine_position
);
885 // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone
886 memcpy(last_milestone
, last_machine_position
, sizeof last_milestone
);
888 // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate.
889 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
890 // to get everything in perfect sync.
891 arm_solution
->cartesian_to_actuator(last_machine_position
, actuator_pos
);
892 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
893 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
896 // Convert target (in machine coordinates) from millimeters to steps, and append this to the planner
897 // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
898 // all transforms and is what we actually convert to actuator positions
899 bool Robot::append_milestone(Gcode
*gcode
, const float target
[], float rate_mm_s
)
901 float deltas
[n_motors
];
902 float transformed_target
[n_motors
]; // adjust target for bed compensation and WCS offsets
903 float unit_vec
[N_PRIMARY_AXIS
];
904 float millimeters_of_travel
= 0;
906 // catch negative or zero feed rates and return the same error as GRBL does
907 if(rate_mm_s
<= 0.0F
) {
908 gcode
->is_error
= true;
909 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
913 // unity transform by default
914 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
916 // check function pointer and call if set to transform the target to compensate for bed
917 if(compensationTransform
) {
918 // some compensation strategies can transform XYZ, some just change Z
919 compensationTransform(transformed_target
);
925 // find distance moved by each axis, use transformed target from the current machine position
926 for (size_t i
= 0; i
< n_motors
; i
++) {
927 deltas
[i
] = transformed_target
[i
] - last_machine_position
[i
];
928 if(deltas
[i
] == 0) continue;
929 // at least one non zero delta
932 sos
+= powf(deltas
[i
], 2);
937 if(!move
) return false;
939 // set if none of the primary axis is moving
940 bool auxilliary_move
= false;
942 millimeters_of_travel
= sqrtf(sos
);
944 } else if(n_motors
>= E_AXIS
) { // if we have more than 3 axis/actuators (XYZE)
945 // non primary axis move (like extrude)
946 // select the biggest one, will be the only active E
947 auto mi
= std::max_element(&deltas
[E_AXIS
], &deltas
[n_motors
], [](float a
, float b
){ return std::abs(a
) < std::abs(b
); } );
948 millimeters_of_travel
= std::abs(*mi
);
949 auxilliary_move
= true;
952 // shouldn't happen but just in case
956 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
957 // 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
958 if(millimeters_of_travel
< 0.00001F
) return false;
960 // this is the machine position
961 memcpy(this->last_machine_position
, transformed_target
, n_motors
*sizeof(float));
963 if(!auxilliary_move
) {
964 // find distance unit vector for primary axis only
965 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
966 unit_vec
[i
] = deltas
[i
] / millimeters_of_travel
;
968 // Do not move faster than the configured cartesian limits for XYZ
969 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
970 if ( max_speeds
[axis
] > 0 ) {
971 float axis_speed
= fabsf(unit_vec
[axis
] * rate_mm_s
);
973 if (axis_speed
> max_speeds
[axis
])
974 rate_mm_s
*= ( max_speeds
[axis
] / axis_speed
);
979 // find actuator position given the machine position, use actual adjusted target
980 ActuatorCoordinates actuator_pos
;
981 arm_solution
->cartesian_to_actuator( this->last_machine_position
, actuator_pos
);
983 #if MAX_ROBOT_ACTUATORS > 3
984 // for the extruders just copy the position
985 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
986 actuator_pos
[i
]= last_machine_position
[i
];
987 if(!isnan(this->e_scale
)) {
988 // NOTE this relies on the fact only one extruder is active at a time
989 // scale for volumetric or flow rate
990 // TODO is this correct? scaling the absolute target? what if the scale changes?
991 // for volumetric it basically converts mm³ to mm, but what about flow rate?
992 actuator_pos
[i
] *= this->e_scale
;
997 // use default acceleration to start with
998 float acceleration
= default_acceleration
;
1000 float isecs
= rate_mm_s
/ millimeters_of_travel
;
1002 // check per-actuator speed limits
1003 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1004 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1005 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1007 float actuator_rate
= d
* isecs
;
1008 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1009 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1010 isecs
= rate_mm_s
/ millimeters_of_travel
;
1013 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1014 // TODO we may need to do all of them, check E won't limit XYZ
1015 // if(auxilliary_move || actuator <= Z_AXIS) {
1016 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1017 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1018 float ca
= fabsf((deltas
[actuator
]/millimeters_of_travel
) * acceleration
);
1020 acceleration
*= ( ma
/ ca
);
1026 // Append the block to the planner
1027 THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, millimeters_of_travel
, auxilliary_move
? nullptr : unit_vec
, acceleration
);
1032 // Used to plan a single move used by things like endstops when homing, zprobe, extruder retracts etc.
1033 // TODO this pretty much duplicates append_milestone, so try to refactor it away.
1034 bool Robot::solo_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1036 if(THEKERNEL
->is_halted()) return false;
1038 // catch negative or zero feed rates and return the same error as GRBL does
1039 if(rate_mm_s
<= 0.0F
) {
1046 // find distance moved by each axis
1047 for (size_t i
= 0; i
< naxis
; i
++) {
1048 if(delta
[i
] == 0) continue;
1049 // at least one non zero delta
1051 sos
+= powf(delta
[i
], 2);
1055 if(!move
) return false;
1057 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1058 // 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
1059 if(sos
< 0.00001F
) return false;
1061 float millimeters_of_travel
= sqrtf(sos
);
1063 // this is the new machine position
1064 for (int axis
= 0; axis
< naxis
; axis
++) {
1065 this->last_machine_position
[axis
] += delta
[axis
];
1067 // we also need to update last_milestone here which is the same as last_machine_position as there was no compensation
1068 memcpy(this->last_milestone
, this->last_machine_position
, naxis
*sizeof(float));
1071 // Do not move faster than the configured cartesian limits for XYZ
1072 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
1073 if ( max_speeds
[axis
] > 0 ) {
1074 float axis_speed
= fabsf(delta
[axis
] / millimeters_of_travel
* rate_mm_s
);
1076 if (axis_speed
> max_speeds
[axis
])
1077 rate_mm_s
*= ( max_speeds
[axis
] / axis_speed
);
1081 // find actuator position given the machine position
1082 ActuatorCoordinates actuator_pos
;
1083 arm_solution
->cartesian_to_actuator( this->last_machine_position
, actuator_pos
);
1085 // for the extruders just copy the position, need to copy all actuators
1086 for (size_t i
= N_PRIMARY_AXIS
; i
< n_motors
; i
++) {
1087 actuator_pos
[i
]= last_machine_position
[i
];
1090 // use default acceleration to start with
1091 float acceleration
= default_acceleration
;
1092 float isecs
= rate_mm_s
/ millimeters_of_travel
;
1094 // check per-actuator speed limits
1095 for (size_t actuator
= 0; actuator
< naxis
; actuator
++) {
1096 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1097 if(d
== 0) continue; // no movement for this actuator
1099 float actuator_rate
= d
* isecs
;
1100 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1101 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1102 isecs
= rate_mm_s
/ millimeters_of_travel
;
1105 // adjust acceleration to lowest found in an active axis
1106 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1107 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1108 float ca
= fabsf((d
/millimeters_of_travel
) * acceleration
);
1110 acceleration
*= ( ma
/ ca
);
1114 // Append the block to the planner
1115 THEKERNEL
->planner
->append_block(actuator_pos
, n_motors
, rate_mm_s
, millimeters_of_travel
, nullptr, acceleration
);
1120 // Append a move to the queue ( cutting it into segments if needed )
1121 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1123 // by default there is no e scaling required, but if volumetric extrusion is enabled this will be set to scale the parameter
1126 // Find out the distance for this move in XYZ in MCS
1127 float millimeters_of_travel
= sqrtf(powf( target
[X_AXIS
] - last_milestone
[X_AXIS
], 2 ) + powf( target
[Y_AXIS
] - last_milestone
[Y_AXIS
], 2 ) + powf( target
[Z_AXIS
] - last_milestone
[Z_AXIS
], 2 ));
1129 if(millimeters_of_travel
< 0.00001F
) {
1130 // we have no movement in XYZ, probably E only extrude or retract which is always in mm, so no E scaling required
1131 return this->append_milestone(gcode
, target
, rate_mm_s
);
1135 For extruders, we need to do some extra work...
1136 if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit.
1137 Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm
1138 We ask Extruder to do all the work but we need to pass in the relevant data.
1139 NOTE we need to do this before we segment the line (for deltas)
1140 This also sets any scaling due to flow rate and volumetric if a G1
1142 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1143 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1144 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1145 rate_mm_s
*= data
[1]; // adjust the feedrate
1146 // we may need to scale the amount moved too
1147 this->e_scale
= data
[0];
1151 // 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.
1152 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1153 // 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
1156 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1159 } else if(this->delta_segments_per_second
> 1.0F
) {
1160 // enabled if set to something > 1, it is set to 0.0 by default
1161 // segment based on current speed and requested segments per second
1162 // the faster the travel speed the fewer segments needed
1163 // NOTE rate is mm/sec and we take into account any speed override
1164 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1165 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1166 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1169 if(this->mm_per_line_segment
== 0.0F
) {
1170 segments
= 1; // don't split it up
1172 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1178 // A vector to keep track of the endpoint of each segment
1179 float segment_delta
[n_motors
];
1180 float segment_end
[n_motors
];
1181 memcpy(segment_end
, last_milestone
, n_motors
*sizeof(float));
1183 // How far do we move each segment?
1184 for (int i
= 0; i
< n_motors
; i
++)
1185 segment_delta
[i
] = (target
[i
] - last_milestone
[i
]) / segments
;
1187 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1188 // We always add another point after this loop so we stop at segments-1, ie i < segments
1189 for (int i
= 1; i
< segments
; i
++) {
1190 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1191 for (int i
= 0; i
< n_motors
; i
++)
1192 segment_end
[i
] += segment_delta
[i
];
1194 // Append the end of this segment to the queue
1195 bool b
= this->append_milestone(gcode
, segment_end
, rate_mm_s
);
1200 // Append the end of this full move to the queue
1201 if(this->append_milestone(gcode
, target
, rate_mm_s
)) moved
= true;
1203 this->next_command_is_MCS
= false; // always reset this
1209 // Append an arc to the queue ( cutting it into segments as needed )
1210 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1214 float center_axis0
= this->last_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1215 float center_axis1
= this->last_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1216 float linear_travel
= target
[this->plane_axis_2
] - this->last_milestone
[this->plane_axis_2
];
1217 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1218 float r_axis1
= -offset
[this->plane_axis_1
];
1219 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1220 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1222 // Patch from GRBL Firmware - Christoph Baumann 04072015
1223 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1224 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1225 if (is_clockwise
) { // Correct atan2 output per direction
1226 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1228 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1231 // Find the distance for this gcode
1232 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1234 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1235 if( millimeters_of_travel
< 0.00001F
) {
1239 // limit segments by maximum arc error
1240 float arc_segment
= this->mm_per_arc_segment
;
1241 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1242 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1243 if (this->mm_per_arc_segment
< min_err_segment
) {
1244 arc_segment
= min_err_segment
;
1247 // Figure out how many segments for this gcode
1248 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1250 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1251 float theta_per_segment
= angular_travel
/ segments
;
1252 float linear_per_segment
= linear_travel
/ segments
;
1254 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1255 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1256 r_T = [cos(phi) -sin(phi);
1257 sin(phi) cos(phi] * r ;
1258 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1259 defined from the circle center to the initial position. Each line segment is formed by successive
1260 vector rotations. This requires only two cos() and sin() computations to form the rotation
1261 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1262 all float numbers are single precision on the Arduino. (True float precision will not have
1263 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1264 tool precision in some cases. Therefore, arc path correction is implemented.
1266 Small angle approximation may be used to reduce computation overhead further. This approximation
1267 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1268 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1269 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1270 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1271 issue for CNC machines with the single precision Arduino calculations.
1272 This approximation also allows mc_arc to immediately insert a line segment into the planner
1273 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1274 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1275 This is important when there are successive arc motions.
1277 // Vector rotation matrix values
1278 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1279 float sin_T
= theta_per_segment
;
1281 float arc_target
[3];
1288 // Initialize the linear axis
1289 arc_target
[this->plane_axis_2
] = this->last_milestone
[this->plane_axis_2
];
1292 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1293 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1295 if (count
< this->arc_correction
) {
1296 // Apply vector rotation matrix
1297 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1298 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1302 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1303 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1304 cos_Ti
= cosf(i
* theta_per_segment
);
1305 sin_Ti
= sinf(i
* theta_per_segment
);
1306 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1307 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1311 // Update arc_target location
1312 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1313 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1314 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1316 // Append this segment to the queue
1317 bool b
= this->append_milestone(gcode
, arc_target
, this->feed_rate
/ seconds_per_minute
);
1321 // Ensure last segment arrives at target location.
1322 if(this->append_milestone(gcode
, target
, this->feed_rate
/ seconds_per_minute
)) moved
= true;
1327 // Do the math for an arc and add it to the queue
1328 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1332 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1334 // Set clockwise/counter-clockwise sign for mc_arc computations
1335 bool is_clockwise
= false;
1336 if( motion_mode
== CW_ARC
) {
1337 is_clockwise
= true;
1341 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1345 float Robot::theta(float x
, float y
)
1347 float t
= atanf(x
/ fabs(y
));
1359 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1361 this->plane_axis_0
= axis_0
;
1362 this->plane_axis_1
= axis_1
;
1363 this->plane_axis_2
= axis_2
;
1366 void Robot::clearToolOffset()
1368 this->tool_offset
= wcs_t(0,0,0);
1371 void Robot::setToolOffset(const float offset
[3])
1373 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1376 float Robot::get_feed_rate() const
1378 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;