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;
111 this->actuators
.fill(nullptr);
114 //Called when the module has just been loaded
115 void Robot::on_module_loaded()
117 this->register_for_event(ON_GCODE_RECEIVED
);
123 #define ACTUATOR_CHECKSUMS(X) { \
124 CHECKSUM(X "_step_pin"), \
125 CHECKSUM(X "_dir_pin"), \
126 CHECKSUM(X "_en_pin"), \
127 CHECKSUM(X "_steps_per_mm"), \
128 CHECKSUM(X "_max_rate"), \
129 CHECKSUM(X "_acceleration") \
132 void Robot::load_config()
134 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
135 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
136 // To make adding those solution easier, they have their own, separate object.
137 // Here we read the config to find out which arm solution to use
138 if (this->arm_solution
) delete this->arm_solution
;
139 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
140 // Note checksums are not const expressions when in debug mode, so don't use switch
141 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
142 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
144 } else if(solution_checksum
== corexz_checksum
) {
145 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
147 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
148 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
150 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
151 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
153 } else if(solution_checksum
== rotary_delta_checksum
) {
154 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
156 } else if(solution_checksum
== morgan_checksum
) {
157 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
159 } else if(solution_checksum
== cartesian_checksum
) {
160 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
163 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
166 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
167 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
168 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
169 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
170 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
171 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
172 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
174 // in mm/sec but specified in config as mm/min
175 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
176 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
177 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
179 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
180 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
182 // Make our Primary XYZ StepperMotors
183 uint16_t const checksums
[][6] = {
184 ACTUATOR_CHECKSUMS("alpha"), // X
185 ACTUATOR_CHECKSUMS("beta"), // Y
186 ACTUATOR_CHECKSUMS("gamma"), // Z
189 // default acceleration setting, can be overriden with newer per axis settings
190 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
193 for (size_t a
= X_AXIS
; a
<= Z_AXIS
; a
++) {
194 Pin pins
[3]; //step, dir, enable
195 for (size_t i
= 0; i
< 3; i
++) {
196 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
198 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
199 // register this motor (NB This must be 0,1,2) of the actuators array
200 uint8_t n
= register_motor(sm
);
202 // this is a fatal error
203 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
207 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
208 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(checksums
[a
][4])->by_default(30000.0F
)->as_number()/60.0F
); // it is in mm/min and converted to mm/sec
209 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
212 check_max_actuator_speeds(); // check the configs are sane
214 // if we have not specified a z acceleration see if the legacy config was set
215 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
216 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
218 actuators
[Z_AXIS
]->set_acceleration(acc
);
222 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
223 // so the first move can be correct if homing is not performed
224 ActuatorCoordinates actuator_pos
;
225 arm_solution
->cartesian_to_actuator(last_milestone
, actuator_pos
);
226 for (size_t i
= 0; i
< n_motors
; i
++)
227 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
229 //this->clearToolOffset();
232 uint8_t Robot::register_motor(StepperMotor
*motor
)
234 // register this motor with the step ticker
235 THEKERNEL
->step_ticker
->register_motor(motor
);
236 if(n_motors
>= k_max_actuators
) {
237 // this is a fatal error
238 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
241 actuators
[n_motors
++]= motor
;
245 void Robot::push_state()
247 bool am
= this->absolute_mode
;
248 bool em
= this->e_absolute_mode
;
249 bool im
= this->inch_mode
;
250 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
254 void Robot::pop_state()
256 if(!state_stack
.empty()) {
257 auto s
= state_stack
.top();
259 this->feed_rate
= std::get
<0>(s
);
260 this->seek_rate
= std::get
<1>(s
);
261 this->absolute_mode
= std::get
<2>(s
);
262 this->e_absolute_mode
= std::get
<3>(s
);
263 this->inch_mode
= std::get
<4>(s
);
264 this->current_wcs
= std::get
<5>(s
);
268 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
270 std::vector
<wcs_t
> v
;
271 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
272 for(auto& i
: wcs_offsets
) {
275 v
.push_back(g92_offset
);
276 v
.push_back(tool_offset
);
280 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
282 // M114.1 is a new way to do this (similar to how GRBL does it).
283 // it returns the realtime position based on the current step position of the actuators.
284 // this does require a FK to get a machine position from the actuator position
285 // and then invert all the transforms to get a workspace position from machine position
286 // M114 just does it the old way uses last_milestone and does inversse transforms to get the requested position
288 if(subcode
== 0) { // M114 print WCS
289 wcs_t pos
= mcs2wcs(last_milestone
);
290 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
)));
292 } 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)
293 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
]);
295 } 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)
296 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
]);
299 // get real time positions
300 // current actuator position in mm
301 ActuatorCoordinates current_position
{
302 actuators
[X_AXIS
]->get_current_position(),
303 actuators
[Y_AXIS
]->get_current_position(),
304 actuators
[Z_AXIS
]->get_current_position()
307 // get machine position from the actuator position using FK
309 arm_solution
->actuator_to_cartesian(current_position
, mpos
);
311 if(subcode
== 1) { // M114.1 print realtime WCS
312 // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little)
313 wcs_t pos
= mcs2wcs(mpos
);
314 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
)));
316 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
317 n
= snprintf(buf
, bufsize
, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
319 } else if(subcode
== 3) { // M114.3 print realtime actuator position
320 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
]);
326 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
327 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
329 return std::make_tuple(
330 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
),
331 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
),
332 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
)
336 // this does a sanity check that actuator speeds do not exceed steps rate capability
337 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
338 void Robot::check_max_actuator_speeds()
340 for (size_t i
= 0; i
< n_motors
; i
++) {
341 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
342 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
343 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
344 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
);
349 //A GCode has been received
350 //See if the current Gcode line has some orders for us
351 void Robot::on_gcode_received(void *argument
)
353 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
355 enum MOTION_MODE_T motion_mode
= NONE
;
359 case 0: motion_mode
= SEEK
; break;
360 case 1: motion_mode
= LINEAR
; break;
361 case 2: motion_mode
= CW_ARC
; break;
362 case 3: motion_mode
= CCW_ARC
; break;
363 case 4: { // G4 pause
364 uint32_t delay_ms
= 0;
365 if (gcode
->has_letter('P')) {
366 delay_ms
= gcode
->get_int('P');
368 if (gcode
->has_letter('S')) {
369 delay_ms
+= gcode
->get_int('S') * 1000;
373 THEKERNEL
->conveyor
->wait_for_empty_queue();
374 // wait for specified time
375 uint32_t start
= us_ticker_read(); // mbed call
376 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
377 THEKERNEL
->call_event(ON_IDLE
, this);
378 if(THEKERNEL
->is_halted()) return;
384 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
385 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
386 size_t n
= gcode
->get_uint('P');
387 if(n
== 0) n
= current_wcs
; // set current coordinate system
391 std::tie(x
, y
, z
) = wcs_offsets
[n
];
392 if(gcode
->get_int('L') == 20) {
393 // this makes the current machine position (less compensation transform) the offset
394 // get current position in WCS
395 wcs_t pos
= mcs2wcs(last_milestone
);
397 if(gcode
->has_letter('X')){
398 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
401 if(gcode
->has_letter('Y')){
402 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
404 if(gcode
->has_letter('Z')) {
405 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
409 // the value is the offset from machine zero
410 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
411 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
412 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
414 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
419 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
420 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
421 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
422 case 20: this->inch_mode
= true; break;
423 case 21: this->inch_mode
= false; break;
425 case 54: case 55: case 56: case 57: case 58: case 59:
426 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
427 current_wcs
= gcode
->g
- 54;
428 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
429 current_wcs
+= gcode
->subcode
;
430 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
434 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
435 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
438 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
439 // reset G92 offsets to 0
440 g92_offset
= wcs_t(0, 0, 0);
442 } else if(gcode
->subcode
== 3) {
443 // initialize G92 to the specified values, only used for saving it with M500
444 float x
= 0, y
= 0, z
= 0;
445 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
446 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
447 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
448 g92_offset
= wcs_t(x
, y
, z
);
451 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
453 std::tie(x
, y
, z
) = g92_offset
;
454 // get current position in WCS
455 wcs_t pos
= mcs2wcs(last_milestone
);
457 // adjust g92 offset to make the current wpos == the value requested
458 if(gcode
->has_letter('X')){
459 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
461 if(gcode
->has_letter('Y')){
462 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
464 if(gcode
->has_letter('Z')) {
465 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
467 g92_offset
= wcs_t(x
, y
, z
);
470 #if MAX_ROBOT_ACTUATORS > 3
471 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
472 // reset the E position, legacy for 3d Printers to be reprap compatible
473 // find the selected extruder
474 // 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
475 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
476 if(actuators
[i
]->is_selected()) {
477 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
478 last_milestone
[i
]= last_machine_position
[i
]= e
;
479 actuators
[i
]->change_last_milestone(e
);
490 } else if( gcode
->has_m
) {
492 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
493 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
496 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
497 if(!THEKERNEL
->is_grbl_mode()) break;
498 // fall through to M2
499 case 2: // M2 end of program
501 absolute_mode
= true;
504 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
507 case 18: // this used to support parameters, now it ignores them
509 THEKERNEL
->conveyor
->wait_for_empty_queue();
510 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
513 case 82: e_absolute_mode
= true; break;
514 case 83: e_absolute_mode
= false; break;
516 case 92: // M92 - set steps per mm
517 if (gcode
->has_letter('X'))
518 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
519 if (gcode
->has_letter('Y'))
520 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
521 if (gcode
->has_letter('Z'))
522 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
524 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->steps_per_mm
, actuators
[1]->steps_per_mm
, actuators
[2]->steps_per_mm
);
525 gcode
->add_nl
= true;
526 check_max_actuator_speeds();
531 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
532 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
536 case 120: // push state
540 case 121: // pop state
544 case 203: // M203 Set maximum feedrates in mm/sec
545 if (gcode
->has_letter('X'))
546 this->max_speeds
[X_AXIS
] = gcode
->get_value('X');
547 if (gcode
->has_letter('Y'))
548 this->max_speeds
[Y_AXIS
] = gcode
->get_value('Y');
549 if (gcode
->has_letter('Z'))
550 this->max_speeds
[Z_AXIS
] = gcode
->get_value('Z');
551 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
552 if (gcode
->has_letter('A' + i
))
553 actuators
[i
]->set_max_rate(gcode
->get_value('A' + i
));
555 check_max_actuator_speeds();
557 if(gcode
->get_num_args() == 0) {
558 gcode
->stream
->printf("X:%g Y:%g Z:%g",
559 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
560 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
561 gcode
->stream
->printf(" %c : %g", 'A' + i
, actuators
[i
]->get_max_rate()); //xxx
563 gcode
->add_nl
= true;
567 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
568 if (gcode
->has_letter('S')) {
569 float acc
= gcode
->get_value('S'); // mm/s^2
571 if (acc
< 1.0F
) acc
= 1.0F
;
572 this->default_acceleration
= acc
;
574 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
575 if (gcode
->has_letter(i
+'X')) {
576 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
578 if (acc
<= 0.0F
) acc
= NAN
;
579 actuators
[i
]->set_acceleration(acc
);
584 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate
585 if (gcode
->has_letter('X')) {
586 float jd
= gcode
->get_value('X');
590 THEKERNEL
->planner
->junction_deviation
= jd
;
592 if (gcode
->has_letter('Z')) {
593 float jd
= gcode
->get_value('Z');
594 // enforce minimum, -1 disables it and uses regular junction deviation
597 THEKERNEL
->planner
->z_junction_deviation
= jd
;
599 if (gcode
->has_letter('S')) {
600 float mps
= gcode
->get_value('S');
604 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
608 case 220: // M220 - speed override percentage
609 if (gcode
->has_letter('S')) {
610 float factor
= gcode
->get_value('S');
611 // enforce minimum 10% speed
614 // enforce maximum 10x speed
615 if (factor
> 1000.0F
)
618 seconds_per_minute
= 6000.0F
/ factor
;
620 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
624 case 400: // wait until all moves are done up to this point
625 THEKERNEL
->conveyor
->wait_for_empty_queue();
628 case 500: // M500 saves some volatile settings to config override file
629 case 503: { // M503 just prints the settings
630 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
);
632 // only print XYZ if not NAN
633 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
634 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
635 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
637 gcode
->stream
->printf("\n");
639 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
);
640 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",
641 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
],
642 actuators
[X_AXIS
]->get_max_rate(), actuators
[Y_AXIS
]->get_max_rate(), actuators
[Z_AXIS
]->get_max_rate());
643 gcode
->stream
->printf("\n");
645 // get or save any arm solution specific optional values
646 BaseSolution::arm_options_t options
;
647 if(arm_solution
->get_optional(options
) && !options
.empty()) {
648 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
649 for(auto &i
: options
) {
650 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
652 gcode
->stream
->printf("\n");
655 // save wcs_offsets and current_wcs
656 // TODO this may need to be done whenever they change to be compliant
657 gcode
->stream
->printf(";WCS settings\n");
658 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
660 for(auto &i
: wcs_offsets
) {
661 if(i
!= wcs_t(0, 0, 0)) {
663 std::tie(x
, y
, z
) = i
;
664 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
669 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
670 // 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
671 if(g92_offset
!= wcs_t(0, 0, 0)) {
673 std::tie(x
, y
, z
) = g92_offset
;
674 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
680 case 665: { // M665 set optional arm solution variables based on arm solution.
681 // the parameter args could be any letter each arm solution only accepts certain ones
682 BaseSolution::arm_options_t options
= gcode
->get_args();
683 options
.erase('S'); // don't include the S
684 options
.erase('U'); // don't include the U
685 if(options
.size() > 0) {
686 // set the specified options
687 arm_solution
->set_optional(options
);
690 if(arm_solution
->get_optional(options
)) {
691 // foreach optional value
692 for(auto &i
: options
) {
693 // print all current values of supported options
694 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
695 gcode
->add_nl
= true;
699 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
700 this->delta_segments_per_second
= gcode
->get_value('S');
701 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
703 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
704 this->mm_per_line_segment
= gcode
->get_value('U');
705 this->delta_segments_per_second
= 0;
706 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
714 if( motion_mode
!= NONE
) {
715 process_move(gcode
, motion_mode
);
718 next_command_is_MCS
= false; // must be on same line as G0 or G1
721 // process a G0/G1/G2/G3
722 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
724 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
725 float param
[4]{NAN
, NAN
, NAN
, NAN
};
727 // process primary axis
728 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
730 if( gcode
->has_letter(letter
) ) {
731 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
735 float offset
[3]{0,0,0};
736 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
737 if( gcode
->has_letter(letter
) ) {
738 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
742 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
743 float target
[n_motors
];
744 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
746 if(!next_command_is_MCS
) {
747 if(this->absolute_mode
) {
748 // apply wcs offsets and g92 offset and tool offset
749 if(!isnan(param
[X_AXIS
])) {
750 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
);
753 if(!isnan(param
[Y_AXIS
])) {
754 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
);
757 if(!isnan(param
[Z_AXIS
])) {
758 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
);
762 // they are deltas from the last_milestone if specified
763 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
764 if(!isnan(param
[i
])) target
[i
] = param
[i
] + last_milestone
[i
];
769 // already in machine coordinates, we do not add tool offset for that
770 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
771 if(!isnan(param
[i
])) target
[i
] = param
[i
];
775 // process extruder parameters, for active extruder only (only one active extruder at a time)
776 selected_extruder
= 0;
777 if(gcode
->has_letter('E')) {
778 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
779 // find first selected extruder
780 if(actuators
[i
]->is_selected()) {
781 param
[E_AXIS
]= gcode
->get_value('E');
782 selected_extruder
= i
;
788 // do E for the selected extruder
790 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
791 if(this->e_absolute_mode
) {
792 target
[selected_extruder
]= param
[E_AXIS
];
793 delta_e
= target
[selected_extruder
] - last_milestone
[selected_extruder
];
795 delta_e
= param
[E_AXIS
];
796 target
[selected_extruder
] = delta_e
+ last_milestone
[selected_extruder
];
800 if( gcode
->has_letter('F') ) {
801 if( motion_mode
== SEEK
)
802 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
804 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
809 // Perform any physical actions
810 switch(motion_mode
) {
814 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
818 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
823 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
824 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
829 // set last_milestone to the calculated target
830 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
834 // reset the machine position for all axis. Used for homing.
835 // During homing compensation is turned off (actually not used as it drives steppers directly)
836 // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
837 // so in those cases the final position is compensated.
838 void Robot::reset_axis_position(float x
, float y
, float z
)
840 // these are set to the same as compensation was not used to get to the current position
841 last_machine_position
[X_AXIS
]= last_milestone
[X_AXIS
] = x
;
842 last_machine_position
[Y_AXIS
]= last_milestone
[Y_AXIS
] = y
;
843 last_machine_position
[Z_AXIS
]= last_milestone
[Z_AXIS
] = z
;
845 // now set the actuator positions to match
846 ActuatorCoordinates actuator_pos
;
847 arm_solution
->cartesian_to_actuator(this->last_machine_position
, actuator_pos
);
848 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
849 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
852 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
853 void Robot::reset_axis_position(float position
, int axis
)
855 last_milestone
[axis
] = position
;
857 reset_axis_position(last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
859 // extruders need to be set not calculated
860 last_machine_position
[axis
]= position
;
864 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
865 // then sets the axis positions to match. currently only called from Endstops.cpp
866 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
868 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
869 actuators
[i
]->change_last_milestone(ac
[i
]);
871 // now correct axis positions then recorrect actuator to account for rounding
872 reset_position_from_current_actuator_position();
875 // Use FK to find out where actuator is and reset to match
876 void Robot::reset_position_from_current_actuator_position()
878 ActuatorCoordinates actuator_pos
;
879 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
880 // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort
881 actuator_pos
[i
] = actuators
[i
]->get_current_position();
884 // discover machine position from where actuators actually are
885 arm_solution
->actuator_to_cartesian(actuator_pos
, last_machine_position
);
886 // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone
887 memcpy(last_milestone
, last_machine_position
, sizeof last_milestone
);
889 // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate.
890 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
891 // to get everything in perfect sync.
892 arm_solution
->cartesian_to_actuator(last_machine_position
, actuator_pos
);
893 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
894 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
897 // Convert target (in machine coordinates) from millimeters to steps, and append this to the planner
898 // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
899 // all transforms and is what we actually convert to actuator positions
900 bool Robot::append_milestone(Gcode
*gcode
, const float target
[], float rate_mm_s
)
902 float deltas
[n_motors
];
903 float transformed_target
[n_motors
]; // adjust target for bed compensation and WCS offsets
904 float unit_vec
[N_PRIMARY_AXIS
];
905 float millimeters_of_travel
= 0;
907 // catch negative or zero feed rates and return the same error as GRBL does
908 if(rate_mm_s
<= 0.0F
) {
909 gcode
->is_error
= true;
910 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
914 // unity transform by default
915 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
917 // check function pointer and call if set to transform the target to compensate for bed
918 if(compensationTransform
) {
919 // some compensation strategies can transform XYZ, some just change Z
920 compensationTransform(transformed_target
);
926 // find distance moved by each axis, use transformed target from the current machine position
927 for (size_t i
= 0; i
< n_motors
; i
++) {
928 deltas
[i
] = transformed_target
[i
] - last_machine_position
[i
];
929 if(deltas
[i
] == 0) continue;
930 // at least one non zero delta
933 sos
+= powf(deltas
[i
], 2);
938 if(!move
) return false;
940 // set if none of the primary axis is moving
941 bool auxilliary_move
= false;
943 millimeters_of_travel
= sqrtf(sos
);
945 } else if(n_motors
>= E_AXIS
) { // if we have more than 3 axis/actuators (XYZE)
946 // non primary axis move (like extrude)
947 // select the biggest one, will be the only active E
948 auto mi
= std::max_element(&deltas
[E_AXIS
], &deltas
[n_motors
], [](float a
, float b
){ return std::abs(a
) < std::abs(b
); } );
949 millimeters_of_travel
= std::abs(*mi
);
950 auxilliary_move
= true;
953 // shouldn't happen but just in case
957 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
958 // 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
959 if(millimeters_of_travel
< 0.00001F
) return false;
961 // this is the machine position
962 memcpy(this->last_machine_position
, transformed_target
, n_motors
*sizeof(float));
964 if(!auxilliary_move
) {
965 // find distance unit vector for primary axis only
966 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
967 unit_vec
[i
] = deltas
[i
] / millimeters_of_travel
;
970 // Do not move faster than the configured cartesian limits for XYZ
971 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
972 if ( max_speeds
[axis
] > 0 ) {
973 float axis_speed
= fabsf(unit_vec
[axis
] * rate_mm_s
);
975 if (axis_speed
> max_speeds
[axis
])
976 rate_mm_s
*= ( max_speeds
[axis
] / axis_speed
);
980 // find actuator position given the machine position, use actual adjusted target
981 ActuatorCoordinates actuator_pos
;
982 arm_solution
->cartesian_to_actuator( this->last_machine_position
, actuator_pos
);
984 #if MAX_ROBOT_ACTUATORS > 3
985 // for the extruders just copy the position
986 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
987 actuator_pos
[i
]= last_machine_position
[i
];
988 if(!isnan(this->e_scale
)) {
989 // NOTE this relies on the fact only one extruder is active at a time
990 // scale for volumetric or flow rate
991 // TODO is this correct? scaling the absolute target? what if the scale changes?
992 // for volumetric it basically converts mm³ to mm, but what about flow rate?
993 actuator_pos
[i
] *= this->e_scale
;
998 // use default acceleration to start with
999 float acceleration
= default_acceleration
;
1001 float isecs
= rate_mm_s
/ millimeters_of_travel
;
1003 // check per-actuator speed limits
1004 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1005 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1006 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1008 float actuator_rate
= d
* isecs
;
1009 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1010 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1011 isecs
= rate_mm_s
/ millimeters_of_travel
;
1014 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1015 // TODO we may need to do all of them, check E won't limit XYZ
1016 // if(auxilliary_move || actuator <= Z_AXIS) {
1017 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1018 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1019 float ca
= fabsf((deltas
[actuator
]/millimeters_of_travel
) * acceleration
);
1021 acceleration
*= ( ma
/ ca
);
1027 // Append the block to the planner
1028 THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, millimeters_of_travel
, auxilliary_move
? nullptr : unit_vec
, acceleration
);
1033 // Used to plan a single move used by things like endstops when homing, zprobe, extruder retracts etc.
1034 // TODO this pretty much duplicates append_milestone, so try to refactor it away.
1035 bool Robot::solo_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1037 if(THEKERNEL
->is_halted()) return false;
1039 // catch negative or zero feed rates and return the same error as GRBL does
1040 if(rate_mm_s
<= 0.0F
) {
1047 // find distance moved by each axis
1048 for (size_t i
= 0; i
< naxis
; i
++) {
1049 if(delta
[i
] == 0) continue;
1050 // at least one non zero delta
1052 sos
+= powf(delta
[i
], 2);
1056 if(!move
) return false;
1058 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1059 // 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
1060 if(sos
< 0.00001F
) return false;
1062 float millimeters_of_travel
= sqrtf(sos
);
1064 // this is the new machine position
1065 for (int axis
= 0; axis
< naxis
; axis
++) {
1066 this->last_machine_position
[axis
] += delta
[axis
];
1068 // we also need to update last_milestone here which is the same as last_machine_position as there was no compensation
1069 memcpy(this->last_milestone
, this->last_machine_position
, naxis
*sizeof(float));
1072 // Do not move faster than the configured cartesian limits for XYZ
1073 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
1074 if ( max_speeds
[axis
] > 0 ) {
1075 float axis_speed
= fabsf(delta
[axis
] / millimeters_of_travel
* rate_mm_s
);
1077 if (axis_speed
> max_speeds
[axis
])
1078 rate_mm_s
*= ( max_speeds
[axis
] / axis_speed
);
1082 // find actuator position given the machine position
1083 ActuatorCoordinates actuator_pos
;
1084 arm_solution
->cartesian_to_actuator( this->last_machine_position
, actuator_pos
);
1086 // for the extruders just copy the position, need to copy all actuators
1087 for (size_t i
= N_PRIMARY_AXIS
; i
< n_motors
; i
++) {
1088 actuator_pos
[i
]= last_machine_position
[i
];
1091 // use default acceleration to start with
1092 float acceleration
= default_acceleration
;
1093 float isecs
= rate_mm_s
/ millimeters_of_travel
;
1095 // check per-actuator speed limits
1096 for (size_t actuator
= 0; actuator
< naxis
; actuator
++) {
1097 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1098 if(d
== 0) continue; // no movement for this actuator
1100 float actuator_rate
= d
* isecs
;
1101 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1102 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1103 isecs
= rate_mm_s
/ millimeters_of_travel
;
1106 // adjust acceleration to lowest found in an active axis
1107 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1108 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1109 float ca
= fabsf((d
/millimeters_of_travel
) * acceleration
);
1111 acceleration
*= ( ma
/ ca
);
1115 // Append the block to the planner
1116 THEKERNEL
->planner
->append_block(actuator_pos
, n_motors
, rate_mm_s
, millimeters_of_travel
, nullptr, acceleration
);
1121 // Append a move to the queue ( cutting it into segments if needed )
1122 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1124 // by default there is no e scaling required, but if volumetric extrusion is enabled this will be set to scale the parameter
1127 // Find out the distance for this move in XYZ in MCS
1128 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 ));
1130 if(millimeters_of_travel
< 0.00001F
) {
1131 // we have no movement in XYZ, probably E only extrude or retract which is always in mm, so no E scaling required
1132 return this->append_milestone(gcode
, target
, rate_mm_s
);
1136 For extruders, we need to do some extra work...
1137 if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit.
1138 Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm
1139 We ask Extruder to do all the work but we need to pass in the relevant data.
1140 NOTE we need to do this before we segment the line (for deltas)
1141 This also sets any scaling due to flow rate and volumetric if a G1
1143 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1144 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1145 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1146 rate_mm_s
*= data
[1]; // adjust the feedrate
1147 // we may need to scale the amount moved too
1148 this->e_scale
= data
[0];
1152 // 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.
1153 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1154 // 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
1157 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1160 } else if(this->delta_segments_per_second
> 1.0F
) {
1161 // enabled if set to something > 1, it is set to 0.0 by default
1162 // segment based on current speed and requested segments per second
1163 // the faster the travel speed the fewer segments needed
1164 // NOTE rate is mm/sec and we take into account any speed override
1165 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1166 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1167 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1170 if(this->mm_per_line_segment
== 0.0F
) {
1171 segments
= 1; // don't split it up
1173 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1179 // A vector to keep track of the endpoint of each segment
1180 float segment_delta
[n_motors
];
1181 float segment_end
[n_motors
];
1182 memcpy(segment_end
, last_milestone
, n_motors
*sizeof(float));
1184 // How far do we move each segment?
1185 for (int i
= 0; i
< n_motors
; i
++)
1186 segment_delta
[i
] = (target
[i
] - last_milestone
[i
]) / segments
;
1188 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1189 // We always add another point after this loop so we stop at segments-1, ie i < segments
1190 for (int i
= 1; i
< segments
; i
++) {
1191 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1192 for (int i
= 0; i
< n_motors
; i
++)
1193 segment_end
[i
] += segment_delta
[i
];
1195 // Append the end of this segment to the queue
1196 bool b
= this->append_milestone(gcode
, segment_end
, rate_mm_s
);
1201 // Append the end of this full move to the queue
1202 if(this->append_milestone(gcode
, target
, rate_mm_s
)) moved
= true;
1204 this->next_command_is_MCS
= false; // always reset this
1210 // Append an arc to the queue ( cutting it into segments as needed )
1211 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1215 float center_axis0
= this->last_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1216 float center_axis1
= this->last_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1217 float linear_travel
= target
[this->plane_axis_2
] - this->last_milestone
[this->plane_axis_2
];
1218 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1219 float r_axis1
= -offset
[this->plane_axis_1
];
1220 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1221 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1223 // Patch from GRBL Firmware - Christoph Baumann 04072015
1224 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1225 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1226 if (is_clockwise
) { // Correct atan2 output per direction
1227 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1229 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1232 // Find the distance for this gcode
1233 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1235 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1236 if( millimeters_of_travel
< 0.00001F
) {
1240 // limit segments by maximum arc error
1241 float arc_segment
= this->mm_per_arc_segment
;
1242 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1243 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1244 if (this->mm_per_arc_segment
< min_err_segment
) {
1245 arc_segment
= min_err_segment
;
1248 // Figure out how many segments for this gcode
1249 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1251 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1252 float theta_per_segment
= angular_travel
/ segments
;
1253 float linear_per_segment
= linear_travel
/ segments
;
1255 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1256 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1257 r_T = [cos(phi) -sin(phi);
1258 sin(phi) cos(phi] * r ;
1259 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1260 defined from the circle center to the initial position. Each line segment is formed by successive
1261 vector rotations. This requires only two cos() and sin() computations to form the rotation
1262 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1263 all float numbers are single precision on the Arduino. (True float precision will not have
1264 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1265 tool precision in some cases. Therefore, arc path correction is implemented.
1267 Small angle approximation may be used to reduce computation overhead further. This approximation
1268 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1269 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1270 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1271 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1272 issue for CNC machines with the single precision Arduino calculations.
1273 This approximation also allows mc_arc to immediately insert a line segment into the planner
1274 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1275 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1276 This is important when there are successive arc motions.
1278 // Vector rotation matrix values
1279 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1280 float sin_T
= theta_per_segment
;
1282 float arc_target
[3];
1289 // Initialize the linear axis
1290 arc_target
[this->plane_axis_2
] = this->last_milestone
[this->plane_axis_2
];
1293 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1294 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1296 if (count
< this->arc_correction
) {
1297 // Apply vector rotation matrix
1298 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1299 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1303 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1304 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1305 cos_Ti
= cosf(i
* theta_per_segment
);
1306 sin_Ti
= sinf(i
* theta_per_segment
);
1307 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1308 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1312 // Update arc_target location
1313 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1314 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1315 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1317 // Append this segment to the queue
1318 bool b
= this->append_milestone(gcode
, arc_target
, this->feed_rate
/ seconds_per_minute
);
1322 // Ensure last segment arrives at target location.
1323 if(this->append_milestone(gcode
, target
, this->feed_rate
/ seconds_per_minute
)) moved
= true;
1328 // Do the math for an arc and add it to the queue
1329 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1333 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1335 // Set clockwise/counter-clockwise sign for mc_arc computations
1336 bool is_clockwise
= false;
1337 if( motion_mode
== CW_ARC
) {
1338 is_clockwise
= true;
1342 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1346 float Robot::theta(float x
, float y
)
1348 float t
= atanf(x
/ fabs(y
));
1360 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1362 this->plane_axis_0
= axis_0
;
1363 this->plane_axis_1
= axis_1
;
1364 this->plane_axis_2
= axis_2
;
1367 void Robot::clearToolOffset()
1369 this->tool_offset
= wcs_t(0,0,0);
1372 void Robot::setToolOffset(const float offset
[3])
1374 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1377 float Robot::get_feed_rate() const
1379 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;