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")
57 #define set_g92_checksum CHECKSUM("set_g92")
60 #define arm_solution_checksum CHECKSUM("arm_solution")
61 #define cartesian_checksum CHECKSUM("cartesian")
62 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
63 #define rostock_checksum CHECKSUM("rostock")
64 #define linear_delta_checksum CHECKSUM("linear_delta")
65 #define rotary_delta_checksum CHECKSUM("rotary_delta")
66 #define delta_checksum CHECKSUM("delta")
67 #define hbot_checksum CHECKSUM("hbot")
68 #define corexy_checksum CHECKSUM("corexy")
69 #define corexz_checksum CHECKSUM("corexz")
70 #define kossel_checksum CHECKSUM("kossel")
71 #define morgan_checksum CHECKSUM("morgan")
73 // new-style actuator stuff
74 #define actuator_checksum CHEKCSUM("actuator")
76 #define step_pin_checksum CHECKSUM("step_pin")
77 #define dir_pin_checksum CHEKCSUM("dir_pin")
78 #define en_pin_checksum CHECKSUM("en_pin")
80 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
81 #define max_rate_checksum CHECKSUM("max_rate")
82 #define acceleration_checksum CHECKSUM("acceleration")
83 #define z_acceleration_checksum CHECKSUM("z_acceleration")
85 #define alpha_checksum CHECKSUM("alpha")
86 #define beta_checksum CHECKSUM("beta")
87 #define gamma_checksum CHECKSUM("gamma")
89 #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
91 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
92 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
94 // 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
95 // It takes care of cutting arcs into segments, same thing for line that are too long
99 this->inch_mode
= false;
100 this->absolute_mode
= true;
101 this->e_absolute_mode
= true;
102 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
103 memset(this->last_milestone
, 0, sizeof last_milestone
);
104 memset(this->last_machine_position
, 0, sizeof last_machine_position
);
105 this->arm_solution
= NULL
;
106 seconds_per_minute
= 60.0F
;
107 this->clearToolOffset();
108 this->compensationTransform
= nullptr;
109 this->get_e_scale_fnc
= nullptr;
110 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
111 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
112 this->next_command_is_MCS
= false;
113 this->disable_segmentation
= false;
114 this->disable_arm_solution
= false;
118 //Called when the module has just been loaded
119 void Robot::on_module_loaded()
121 this->register_for_event(ON_GCODE_RECEIVED
);
127 #define ACTUATOR_CHECKSUMS(X) { \
128 CHECKSUM(X "_step_pin"), \
129 CHECKSUM(X "_dir_pin"), \
130 CHECKSUM(X "_en_pin"), \
131 CHECKSUM(X "_steps_per_mm"), \
132 CHECKSUM(X "_max_rate"), \
133 CHECKSUM(X "_acceleration") \
136 void Robot::load_config()
138 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
139 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
140 // To make adding those solution easier, they have their own, separate object.
141 // Here we read the config to find out which arm solution to use
142 if (this->arm_solution
) delete this->arm_solution
;
143 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
144 // Note checksums are not const expressions when in debug mode, so don't use switch
145 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
146 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
148 } else if(solution_checksum
== corexz_checksum
) {
149 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
151 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
152 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
154 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
155 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
157 } else if(solution_checksum
== rotary_delta_checksum
) {
158 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
160 } else if(solution_checksum
== morgan_checksum
) {
161 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
163 } else if(solution_checksum
== cartesian_checksum
) {
164 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
167 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
170 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
171 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
172 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
173 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
174 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
175 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
176 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
178 // in mm/sec but specified in config as mm/min
179 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
180 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
181 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
183 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
184 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
185 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
187 // optional setting for a fixed G92 offset
188 std::vector
<float> t
= parse_number_list(g92
.c_str());
190 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
194 // default s value for laser
195 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
197 // Make our Primary XYZ StepperMotors
198 uint16_t const checksums
[][6] = {
199 ACTUATOR_CHECKSUMS("alpha"), // X
200 ACTUATOR_CHECKSUMS("beta"), // Y
201 ACTUATOR_CHECKSUMS("gamma"), // Z
204 // default acceleration setting, can be overriden with newer per axis settings
205 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
208 for (size_t a
= X_AXIS
; a
<= Z_AXIS
; a
++) {
209 Pin pins
[3]; //step, dir, enable
210 for (size_t i
= 0; i
< 3; i
++) {
211 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
213 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
214 // register this motor (NB This must be 0,1,2) of the actuators array
215 uint8_t n
= register_motor(sm
);
217 // this is a fatal error
218 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
222 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
223 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
224 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
227 check_max_actuator_speeds(); // check the configs are sane
229 // if we have not specified a z acceleration see if the legacy config was set
230 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
231 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
233 actuators
[Z_AXIS
]->set_acceleration(acc
);
237 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
238 // so the first move can be correct if homing is not performed
239 ActuatorCoordinates actuator_pos
;
240 arm_solution
->cartesian_to_actuator(last_milestone
, actuator_pos
);
241 for (size_t i
= 0; i
< n_motors
; i
++)
242 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
244 //this->clearToolOffset();
247 uint8_t Robot::register_motor(StepperMotor
*motor
)
249 // register this motor with the step ticker
250 THEKERNEL
->step_ticker
->register_motor(motor
);
251 if(n_motors
>= k_max_actuators
) {
252 // this is a fatal error
253 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
256 actuators
.push_back(motor
);
260 void Robot::push_state()
262 bool am
= this->absolute_mode
;
263 bool em
= this->e_absolute_mode
;
264 bool im
= this->inch_mode
;
265 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
269 void Robot::pop_state()
271 if(!state_stack
.empty()) {
272 auto s
= state_stack
.top();
274 this->feed_rate
= std::get
<0>(s
);
275 this->seek_rate
= std::get
<1>(s
);
276 this->absolute_mode
= std::get
<2>(s
);
277 this->e_absolute_mode
= std::get
<3>(s
);
278 this->inch_mode
= std::get
<4>(s
);
279 this->current_wcs
= std::get
<5>(s
);
283 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
285 std::vector
<wcs_t
> v
;
286 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
287 for(auto& i
: wcs_offsets
) {
290 v
.push_back(g92_offset
);
291 v
.push_back(tool_offset
);
295 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
297 // M114.1 is a new way to do this (similar to how GRBL does it).
298 // it returns the realtime position based on the current step position of the actuators.
299 // this does require a FK to get a machine position from the actuator position
300 // and then invert all the transforms to get a workspace position from machine position
301 // M114 just does it the old way uses last_milestone and does inverse transforms to get the requested position
303 if(subcode
== 0) { // M114 print WCS
304 wcs_t pos
= mcs2wcs(last_milestone
);
305 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
)));
307 } else if(subcode
== 4) {
308 // M114.4 print last milestone
309 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
]);
311 } else if(subcode
== 5) {
312 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
313 // will differ from LMS by the compensation at the current position otherwise
314 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
]);
317 // get real time positions
318 // current actuator position in mm
319 ActuatorCoordinates current_position
{
320 actuators
[X_AXIS
]->get_current_position(),
321 actuators
[Y_AXIS
]->get_current_position(),
322 actuators
[Z_AXIS
]->get_current_position()
325 // get machine position from the actuator position using FK
327 arm_solution
->actuator_to_cartesian(current_position
, mpos
);
328 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
329 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
331 if(subcode
== 1) { // M114.1 print realtime WCS
332 wcs_t pos
= mcs2wcs(mpos
);
333 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
)));
335 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
336 n
= snprintf(buf
, bufsize
, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
338 } else if(subcode
== 3) { // M114.3 print realtime actuator position
339 n
= snprintf(buf
, bufsize
, "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position
[X_AXIS
], current_position
[Y_AXIS
], current_position
[Z_AXIS
]);
345 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
346 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
348 return std::make_tuple(
349 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
),
350 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
),
351 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
)
355 // this does a sanity check that actuator speeds do not exceed steps rate capability
356 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
357 void Robot::check_max_actuator_speeds()
359 for (size_t i
= 0; i
< n_motors
; i
++) {
360 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
361 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
362 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
363 THEKERNEL
->streams
->printf("WARNING: actuator %d rate exceeds base_stepping_frequency * ..._steps_per_mm: %f, setting to %f\n", i
, step_freq
, actuators
[i
]->get_max_rate());
368 //A GCode has been received
369 //See if the current Gcode line has some orders for us
370 void Robot::on_gcode_received(void *argument
)
372 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
374 enum MOTION_MODE_T motion_mode
= NONE
;
378 case 0: motion_mode
= SEEK
; break;
379 case 1: motion_mode
= LINEAR
; break;
380 case 2: motion_mode
= CW_ARC
; break;
381 case 3: motion_mode
= CCW_ARC
; break;
382 case 4: { // G4 pause
383 uint32_t delay_ms
= 0;
384 if (gcode
->has_letter('P')) {
385 delay_ms
= gcode
->get_int('P');
387 if (gcode
->has_letter('S')) {
388 delay_ms
+= gcode
->get_int('S') * 1000;
392 THEKERNEL
->conveyor
->wait_for_idle();
393 // wait for specified time
394 uint32_t start
= us_ticker_read(); // mbed call
395 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
396 THEKERNEL
->call_event(ON_IDLE
, this);
397 if(THEKERNEL
->is_halted()) return;
403 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
404 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
405 size_t n
= gcode
->get_uint('P');
406 if(n
== 0) n
= current_wcs
; // set current coordinate system
410 std::tie(x
, y
, z
) = wcs_offsets
[n
];
411 if(gcode
->get_int('L') == 20) {
412 // this makes the current machine position (less compensation transform) the offset
413 // get current position in WCS
414 wcs_t pos
= mcs2wcs(last_milestone
);
416 if(gcode
->has_letter('X')){
417 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
420 if(gcode
->has_letter('Y')){
421 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
423 if(gcode
->has_letter('Z')) {
424 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
428 // the value is the offset from machine zero
429 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
430 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
431 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
433 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
438 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
439 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
440 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
441 case 20: this->inch_mode
= true; break;
442 case 21: this->inch_mode
= false; break;
444 case 54: case 55: case 56: case 57: case 58: case 59:
445 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
446 current_wcs
= gcode
->g
- 54;
447 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
448 current_wcs
+= gcode
->subcode
;
449 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
453 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
454 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
457 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
458 // reset G92 offsets to 0
459 g92_offset
= wcs_t(0, 0, 0);
461 } else if(gcode
->subcode
== 3) {
462 // initialize G92 to the specified values, only used for saving it with M500
463 float x
= 0, y
= 0, z
= 0;
464 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
465 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
466 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
467 g92_offset
= wcs_t(x
, y
, z
);
470 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
472 std::tie(x
, y
, z
) = g92_offset
;
473 // get current position in WCS
474 wcs_t pos
= mcs2wcs(last_milestone
);
476 // adjust g92 offset to make the current wpos == the value requested
477 if(gcode
->has_letter('X')){
478 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
480 if(gcode
->has_letter('Y')){
481 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
483 if(gcode
->has_letter('Z')) {
484 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
486 g92_offset
= wcs_t(x
, y
, z
);
489 #if MAX_ROBOT_ACTUATORS > 3
490 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
491 // reset the E position, legacy for 3d Printers to be reprap compatible
492 // find the selected extruder
493 // 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
494 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
495 if(actuators
[i
]->is_selected()) {
496 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
497 last_milestone
[i
]= last_machine_position
[i
]= e
;
498 actuators
[i
]->change_last_milestone(e
);
509 } else if( gcode
->has_m
) {
511 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
512 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
515 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
516 if(!THEKERNEL
->is_grbl_mode()) break;
517 // fall through to M2
518 case 2: // M2 end of program
520 absolute_mode
= true;
523 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
526 case 18: // this used to support parameters, now it ignores them
528 THEKERNEL
->conveyor
->wait_for_idle();
529 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
532 case 82: e_absolute_mode
= true; break;
533 case 83: e_absolute_mode
= false; break;
535 case 92: // M92 - set steps per mm
536 if (gcode
->has_letter('X'))
537 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
538 if (gcode
->has_letter('Y'))
539 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
540 if (gcode
->has_letter('Z'))
541 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
543 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
544 gcode
->add_nl
= true;
545 check_max_actuator_speeds();
550 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
551 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
555 case 120: // push state
559 case 121: // pop state
563 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
564 if(gcode
->get_num_args() == 0) {
565 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
566 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
568 gcode
->add_nl
= true;
571 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
572 if (gcode
->has_letter('X' + i
)) {
573 float v
= gcode
->get_value('X'+i
);
574 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
575 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
579 // this format is deprecated
580 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
581 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
582 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
583 if (gcode
->has_letter('A' + i
)) {
584 float v
= gcode
->get_value('A'+i
);
585 actuators
[i
]->set_max_rate(v
);
590 if(gcode
->subcode
== 1) check_max_actuator_speeds();
594 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
595 if (gcode
->has_letter('S')) {
596 float acc
= gcode
->get_value('S'); // mm/s^2
598 if (acc
< 1.0F
) acc
= 1.0F
;
599 this->default_acceleration
= acc
;
601 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
602 if (gcode
->has_letter(i
+'X')) {
603 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
605 if (acc
<= 0.0F
) acc
= NAN
;
606 actuators
[i
]->set_acceleration(acc
);
611 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
612 if (gcode
->has_letter('X')) {
613 float jd
= gcode
->get_value('X');
617 THEKERNEL
->planner
->junction_deviation
= jd
;
619 if (gcode
->has_letter('Z')) {
620 float jd
= gcode
->get_value('Z');
621 // enforce minimum, -1 disables it and uses regular junction deviation
624 THEKERNEL
->planner
->z_junction_deviation
= jd
;
626 if (gcode
->has_letter('S')) {
627 float mps
= gcode
->get_value('S');
631 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
635 case 220: // M220 - speed override percentage
636 if (gcode
->has_letter('S')) {
637 float factor
= gcode
->get_value('S');
638 // enforce minimum 10% speed
641 // enforce maximum 10x speed
642 if (factor
> 1000.0F
)
645 seconds_per_minute
= 6000.0F
/ factor
;
647 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
651 case 400: // wait until all moves are done up to this point
652 THEKERNEL
->conveyor
->wait_for_idle();
655 case 500: // M500 saves some volatile settings to config override file
656 case 503: { // M503 just prints the settings
657 gcode
->stream
->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
659 // only print XYZ if not NAN
660 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
661 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
662 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
664 gcode
->stream
->printf("\n");
666 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
, isnan(THEKERNEL
->planner
->z_junction_deviation
)?-1:THEKERNEL
->planner
->z_junction_deviation
, THEKERNEL
->planner
->minimum_planner_speed
);
668 gcode
->stream
->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f\n", this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
669 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 X%1.5f Y%1.5f Z%1.5f\n", actuators
[X_AXIS
]->get_max_rate(), actuators
[Y_AXIS
]->get_max_rate(), actuators
[Z_AXIS
]->get_max_rate());
671 // get or save any arm solution specific optional values
672 BaseSolution::arm_options_t options
;
673 if(arm_solution
->get_optional(options
) && !options
.empty()) {
674 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
675 for(auto &i
: options
) {
676 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
678 gcode
->stream
->printf("\n");
681 // save wcs_offsets and current_wcs
682 // TODO this may need to be done whenever they change to be compliant
683 gcode
->stream
->printf(";WCS settings\n");
684 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
686 for(auto &i
: wcs_offsets
) {
687 if(i
!= wcs_t(0, 0, 0)) {
689 std::tie(x
, y
, z
) = i
;
690 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
695 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
696 // 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
697 if(g92_offset
!= wcs_t(0, 0, 0)) {
699 std::tie(x
, y
, z
) = g92_offset
;
700 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
706 case 665: { // M665 set optional arm solution variables based on arm solution.
707 // the parameter args could be any letter each arm solution only accepts certain ones
708 BaseSolution::arm_options_t options
= gcode
->get_args();
709 options
.erase('S'); // don't include the S
710 options
.erase('U'); // don't include the U
711 if(options
.size() > 0) {
712 // set the specified options
713 arm_solution
->set_optional(options
);
716 if(arm_solution
->get_optional(options
)) {
717 // foreach optional value
718 for(auto &i
: options
) {
719 // print all current values of supported options
720 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
721 gcode
->add_nl
= true;
725 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
726 this->delta_segments_per_second
= gcode
->get_value('S');
727 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
729 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
730 this->mm_per_line_segment
= gcode
->get_value('U');
731 this->delta_segments_per_second
= 0;
732 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
740 if( motion_mode
!= NONE
) {
741 is_g123
= motion_mode
!= SEEK
;
742 process_move(gcode
, motion_mode
);
748 next_command_is_MCS
= false; // must be on same line as G0 or G1
751 // process a G0/G1/G2/G3
752 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
754 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
755 // get XYZ and one E (which goes to the selected extruder)
756 float param
[4]{NAN
, NAN
, NAN
, NAN
};
758 // process primary axis
759 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
761 if( gcode
->has_letter(letter
) ) {
762 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
766 float offset
[3]{0,0,0};
767 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
768 if( gcode
->has_letter(letter
) ) {
769 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
773 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
774 float target
[n_motors
];
775 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
777 if(!next_command_is_MCS
) {
778 if(this->absolute_mode
) {
779 // apply wcs offsets and g92 offset and tool offset
780 if(!isnan(param
[X_AXIS
])) {
781 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
);
784 if(!isnan(param
[Y_AXIS
])) {
785 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
);
788 if(!isnan(param
[Z_AXIS
])) {
789 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
);
793 // they are deltas from the last_milestone if specified
794 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
795 if(!isnan(param
[i
])) target
[i
] = param
[i
] + last_milestone
[i
];
800 // already in machine coordinates, we do not add tool offset for that
801 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
802 if(!isnan(param
[i
])) target
[i
] = param
[i
];
806 // process extruder parameters, for active extruder only (only one active extruder at a time)
807 selected_extruder
= 0;
808 if(gcode
->has_letter('E')) {
809 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
810 // find first selected extruder
811 if(actuators
[i
]->is_selected()) {
812 param
[E_AXIS
]= gcode
->get_value('E');
813 selected_extruder
= i
;
819 // do E for the selected extruder
821 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
822 if(this->e_absolute_mode
) {
823 target
[selected_extruder
]= param
[E_AXIS
];
824 delta_e
= target
[selected_extruder
] - last_milestone
[selected_extruder
];
826 delta_e
= param
[E_AXIS
];
827 target
[selected_extruder
] = delta_e
+ last_milestone
[selected_extruder
];
831 if( gcode
->has_letter('F') ) {
832 if( motion_mode
== SEEK
)
833 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
835 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
838 // S is modal When specified on a G0/1/2/3 command
839 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
843 // Perform any physical actions
844 switch(motion_mode
) {
848 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
852 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
857 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
858 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
863 // set last_milestone to the calculated target
864 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
868 // reset the machine position for all axis. Used for homing.
869 // after homing we supply the cartesian coordinates that the head is at when homed,
870 // however for Z this is the compensated Z position (if enabled)
871 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct last milestone
872 // this will make the results from M114 and ? consistent after homing.
873 void Robot::reset_axis_position(float x
, float y
, float z
)
875 // set both the same initially
876 last_machine_position
[X_AXIS
]= last_milestone
[X_AXIS
] = x
;
877 last_machine_position
[Y_AXIS
]= last_milestone
[Y_AXIS
] = y
;
878 last_machine_position
[Z_AXIS
]= last_milestone
[Z_AXIS
] = z
;
880 if(compensationTransform
) {
881 // apply inverse transform to get last_milestone
882 compensationTransform(last_milestone
, true);
885 // now set the actuator positions based on the supplied compensated position
886 ActuatorCoordinates actuator_pos
;
887 arm_solution
->cartesian_to_actuator(this->last_machine_position
, actuator_pos
);
888 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
889 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
892 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
893 void Robot::reset_axis_position(float position
, int axis
)
895 last_milestone
[axis
] = position
;
897 reset_axis_position(last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
898 #if MAX_ROBOT_ACTUATORS > 3
900 // extruders need to be set not calculated
901 last_machine_position
[axis
]= position
;
906 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
907 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
908 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
910 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
911 actuators
[i
]->change_last_milestone(ac
[i
]);
913 // now correct axis positions then recorrect actuator to account for rounding
914 reset_position_from_current_actuator_position();
917 // Use FK to find out where actuator is and reset to match
918 void Robot::reset_position_from_current_actuator_position()
920 ActuatorCoordinates actuator_pos
;
921 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
922 // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort
923 actuator_pos
[i
] = actuators
[i
]->get_current_position();
926 // discover machine position from where actuators actually are
927 arm_solution
->actuator_to_cartesian(actuator_pos
, last_machine_position
);
928 memcpy(last_milestone
, last_machine_position
, sizeof last_milestone
);
930 // last_machine_position includes the compensation transform so we need to get the inverse to get actual last_milestone
931 if(compensationTransform
) compensationTransform(last_milestone
, true); // get inverse compensation transform
933 // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate.
934 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
935 // to get everything in perfect sync.
936 arm_solution
->cartesian_to_actuator(last_machine_position
, actuator_pos
);
937 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
938 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
941 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
942 // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
943 // all transforms and is what we actually convert to actuator positions
944 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
946 float deltas
[n_motors
];
947 float transformed_target
[n_motors
]; // adjust target for bed compensation
948 float unit_vec
[N_PRIMARY_AXIS
];
950 // unity transform by default
951 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
953 // check function pointer and call if set to transform the target to compensate for bed
954 if(compensationTransform
) {
955 // some compensation strategies can transform XYZ, some just change Z
956 compensationTransform(transformed_target
, false);
960 float sos
= 0; // sun of squares for just XYZ
962 // find distance moved by each axis, use transformed target from the current machine position
963 for (size_t i
= 0; i
< n_motors
; i
++) {
964 deltas
[i
] = transformed_target
[i
] - last_machine_position
[i
];
965 if(deltas
[i
] == 0) continue;
966 // at least one non zero delta
969 sos
+= powf(deltas
[i
], 2);
974 if(!move
) return false;
976 // see if this is a primary axis move or not
977 bool auxilliary_move
= deltas
[X_AXIS
] == 0 && deltas
[Y_AXIS
] == 0 && deltas
[Z_AXIS
] == 0;
979 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
980 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
982 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
983 // 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
984 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
987 if(!auxilliary_move
) {
988 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
989 // find distance unit vector for primary axis only
990 unit_vec
[i
] = deltas
[i
] / distance
;
992 // Do not move faster than the configured cartesian limits for XYZ
993 if ( max_speeds
[i
] > 0 ) {
994 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
996 if (axis_speed
> max_speeds
[i
])
997 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1002 // find actuator position given the machine position, use actual adjusted target
1003 ActuatorCoordinates actuator_pos
;
1004 if(!disable_arm_solution
) {
1005 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1008 // basically the same as cartesian, would be used for special homing situations like for scara
1009 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1010 actuator_pos
[i
] = transformed_target
[i
];
1014 #if MAX_ROBOT_ACTUATORS > 3
1016 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1017 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1018 actuator_pos
[i
]= transformed_target
[i
];
1019 if(get_e_scale_fnc
) {
1020 // NOTE this relies on the fact only one extruder is active at a time
1021 // scale for volumetric or flow rate
1022 // TODO is this correct? scaling the absolute target? what if the scale changes?
1023 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1024 actuator_pos
[i
] *= get_e_scale_fnc();
1026 if(auxilliary_move
) {
1027 // for E only moves we need to use the scaled E to calculate the distance
1028 sos
+= pow(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1031 if(auxilliary_move
) {
1032 distance
= sqrtf(sos
); // distance in mm of the e move
1033 if(distance
< 0.00001F
) return false;
1037 // use default acceleration to start with
1038 float acceleration
= default_acceleration
;
1040 float isecs
= rate_mm_s
/ distance
;
1042 // check per-actuator speed limits
1043 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1044 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1045 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1047 float actuator_rate
= d
* isecs
;
1048 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1049 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1050 isecs
= rate_mm_s
/ distance
;
1053 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1054 // TODO we may need to do all of them, check E won't limit XYZ.. it does on long E moves, but not checking it could exceed the E acceleration.
1055 if(auxilliary_move
|| actuator
<= Z_AXIS
) {
1056 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1057 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1058 float ca
= fabsf((d
/distance
) * acceleration
);
1060 acceleration
*= ( ma
/ ca
);
1066 // Append the block to the planner
1067 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1068 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1069 // this is the machine position
1070 memcpy(this->last_machine_position
, transformed_target
, n_motors
*sizeof(float));
1078 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1079 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1081 if(THEKERNEL
->is_halted()) return false;
1083 // catch negative or zero feed rates
1084 if(rate_mm_s
<= 0.0F
) {
1088 // get the absolute target position, default is current last_milestone
1089 float target
[n_motors
];
1090 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
1092 // add in the deltas to get new target
1093 for (int i
= 0; i
< naxis
; i
++) {
1094 target
[i
] += delta
[i
];
1097 // submit for planning and if moved update last_milestone
1098 if(append_milestone(target
, rate_mm_s
)) {
1099 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
1106 // Append a move to the queue ( cutting it into segments if needed )
1107 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1109 // catch negative or zero feed rates and return the same error as GRBL does
1110 if(rate_mm_s
<= 0.0F
) {
1111 gcode
->is_error
= true;
1112 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1116 // Find out the distance for this move in XYZ in MCS
1117 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 ));
1119 if(millimeters_of_travel
< 0.00001F
) {
1120 // we have no movement in XYZ, probably E only extrude or retract
1121 return this->append_milestone(target
, rate_mm_s
);
1125 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1126 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1127 We ask Extruder to do all the work but we need to pass in the relevant data.
1128 NOTE we need to do this before we segment the line (for deltas)
1130 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1131 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1132 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1133 rate_mm_s
*= data
[1]; // adjust the feedrate
1137 // 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.
1138 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1139 // 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
1142 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1145 } else if(this->delta_segments_per_second
> 1.0F
) {
1146 // enabled if set to something > 1, it is set to 0.0 by default
1147 // segment based on current speed and requested segments per second
1148 // the faster the travel speed the fewer segments needed
1149 // NOTE rate is mm/sec and we take into account any speed override
1150 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1151 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1152 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1155 if(this->mm_per_line_segment
== 0.0F
) {
1156 segments
= 1; // don't split it up
1158 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1164 // A vector to keep track of the endpoint of each segment
1165 float segment_delta
[n_motors
];
1166 float segment_end
[n_motors
];
1167 memcpy(segment_end
, last_milestone
, n_motors
*sizeof(float));
1169 // How far do we move each segment?
1170 for (int i
= 0; i
< n_motors
; i
++)
1171 segment_delta
[i
] = (target
[i
] - last_milestone
[i
]) / segments
;
1173 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1174 // We always add another point after this loop so we stop at segments-1, ie i < segments
1175 for (int i
= 1; i
< segments
; i
++) {
1176 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1177 for (int i
= 0; i
< n_motors
; i
++)
1178 segment_end
[i
] += segment_delta
[i
];
1180 // Append the end of this segment to the queue
1181 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1186 // Append the end of this full move to the queue
1187 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1189 this->next_command_is_MCS
= false; // always reset this
1195 // Append an arc to the queue ( cutting it into segments as needed )
1196 // TODO does not support any E parameters so cannot be used for 3D printing.
1197 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1199 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1200 // catch negative or zero feed rates and return the same error as GRBL does
1201 if(rate_mm_s
<= 0.0F
) {
1202 gcode
->is_error
= true;
1203 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1208 float center_axis0
= this->last_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1209 float center_axis1
= this->last_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1210 float linear_travel
= target
[this->plane_axis_2
] - this->last_milestone
[this->plane_axis_2
];
1211 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1212 float r_axis1
= -offset
[this->plane_axis_1
];
1213 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1214 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1216 // Patch from GRBL Firmware - Christoph Baumann 04072015
1217 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1218 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1219 if (is_clockwise
) { // Correct atan2 output per direction
1220 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1222 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1225 // Find the distance for this gcode
1226 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1228 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1229 if( millimeters_of_travel
< 0.00001F
) {
1233 // limit segments by maximum arc error
1234 float arc_segment
= this->mm_per_arc_segment
;
1235 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1236 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1237 if (this->mm_per_arc_segment
< min_err_segment
) {
1238 arc_segment
= min_err_segment
;
1241 // Figure out how many segments for this gcode
1242 // TODO for deltas we need to make sure we are at least as many segments as requested, also if mm_per_line_segment is set we need to use the
1243 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1245 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1246 float theta_per_segment
= angular_travel
/ segments
;
1247 float linear_per_segment
= linear_travel
/ segments
;
1249 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1250 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1251 r_T = [cos(phi) -sin(phi);
1252 sin(phi) cos(phi] * r ;
1253 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1254 defined from the circle center to the initial position. Each line segment is formed by successive
1255 vector rotations. This requires only two cos() and sin() computations to form the rotation
1256 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1257 all float numbers are single precision on the Arduino. (True float precision will not have
1258 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1259 tool precision in some cases. Therefore, arc path correction is implemented.
1261 Small angle approximation may be used to reduce computation overhead further. This approximation
1262 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1263 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1264 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1265 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1266 issue for CNC machines with the single precision Arduino calculations.
1267 This approximation also allows mc_arc to immediately insert a line segment into the planner
1268 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1269 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1270 This is important when there are successive arc motions.
1272 // Vector rotation matrix values
1273 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1274 float sin_T
= theta_per_segment
;
1276 float arc_target
[3];
1283 // Initialize the linear axis
1284 arc_target
[this->plane_axis_2
] = this->last_milestone
[this->plane_axis_2
];
1287 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1288 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1290 if (count
< this->arc_correction
) {
1291 // Apply vector rotation matrix
1292 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1293 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1297 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1298 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1299 cos_Ti
= cosf(i
* theta_per_segment
);
1300 sin_Ti
= sinf(i
* theta_per_segment
);
1301 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1302 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1306 // Update arc_target location
1307 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1308 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1309 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1311 // Append this segment to the queue
1312 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1316 // Ensure last segment arrives at target location.
1317 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1322 // Do the math for an arc and add it to the queue
1323 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1327 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1329 // Set clockwise/counter-clockwise sign for mc_arc computations
1330 bool is_clockwise
= false;
1331 if( motion_mode
== CW_ARC
) {
1332 is_clockwise
= true;
1336 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1340 float Robot::theta(float x
, float y
)
1342 float t
= atanf(x
/ fabs(y
));
1354 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1356 this->plane_axis_0
= axis_0
;
1357 this->plane_axis_1
= axis_1
;
1358 this->plane_axis_2
= axis_2
;
1361 void Robot::clearToolOffset()
1363 this->tool_offset
= wcs_t(0,0,0);
1366 void Robot::setToolOffset(const float offset
[3])
1368 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1371 float Robot::get_feed_rate() const
1373 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;