src/modules/robot/Robot.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef ROBOT_H
   9 #define ROBOT_H
  10
  11 #include <string>
  12 using std::string;
  13 #include <string.h>
  14 #include <functional>
  15 #include <stack>
  16
  17 #include "libs/Module.h"
  18
  19 class Gcode;
  20 class BaseSolution;
  21 class StepperMotor;
  22
  23 class Robot : public Module {
  24     public:
  25         Robot();
  26         void on_module_loaded();
  27         void on_config_reload(void* argument);
  28         void on_gcode_received(void* argument);
  29
  30         void reset_axis_position(float position, int axis);
  31         void reset_axis_position(float x, float y, float z);
  32         void reset_position_from_current_actuator_position();
  33         void get_axis_position(float position[]);
  34         float to_millimeters(float value);
  35         float from_millimeters(float value);
  36         float get_seconds_per_minute() const { return seconds_per_minute; }
  37         float get_z_maxfeedrate() const { return this->max_speeds[2]; }
  38         void setToolOffset(const float offset[3]);
  39         float get_feed_rate() const { return feed_rate; }
  40
  41         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
  42
  43         // gets accessed by Panel, Endstops, ZProbe
  44         std::vector<StepperMotor*> actuators;
  45
  46         // set by a leveling strategy to transform the target of a move according to the current plan
  47         std::function<void(float[3])> compensationTransform;
  48
  49         struct {
  50             bool inch_mode:1;                                 // true for inch mode, false for millimeter mode ( default )
  51             bool absolute_mode:1;                             // true for absolute mode ( default ), false for relative mode
  52         };
  53
  54     private:
  55         void distance_in_gcode_is_known(Gcode* gcode);
  56         void append_milestone( Gcode *gcode, float target[], float rate_mm_s);
  57         void append_line( Gcode* gcode, float target[], float rate_mm_s);
  58         void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise );
  59         void compute_arc(Gcode* gcode, float offset[], float target[]);
  60
  61         float theta(float x, float y);
  62         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
  63         void clearToolOffset();
  64         void check_max_actuator_speeds();
  65
  66         typedef std::tuple<float, float, bool> saved_state_t; // save current feedrate and absolute mode
  67         std::stack<saved_state_t> state_stack;               // saves state from M120
  68         float last_milestone[3];                             // Last position, in millimeters
  69         float transformed_last_milestone[3];                 // Last transformed position
  70         int8_t motion_mode;                                  // Motion mode for the current received Gcode
  71         uint8_t plane_axis_0, plane_axis_1, plane_axis_2;    // Current plane ( XY, XZ, YZ )
  72         float seek_rate;                                     // Current rate for seeking moves ( mm/s )
  73         float feed_rate;                                     // Current rate for feeding moves ( mm/s )
  74         float mm_per_line_segment;                           // Setting : Used to split lines into segments
  75         float mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
  76         float delta_segments_per_second;                     // Setting : Used to split lines into segments for delta based on speed
  77         float seconds_per_minute;                            // for realtime speed change
  78
  79         // Number of arc generation iterations by small angle approximation before exact arc trajectory
  80         // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
  81         // generations. In general, the default value is more than enough for the intended CNC applications
  82         // of grbl, and should be on the order or greater than the size of the buffer to help with the
  83         // computational efficiency of generating arcs.
  84         int arc_correction;                                   // Setting : how often to rectify arc computation
  85         float max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
  86
  87         float toolOffset[3];
  88
  89         // Used by Stepper, Planner
  90         friend class Planner;
  91         friend class Stepper;
  92
  93         StepperMotor* alpha_stepper_motor;
  94         StepperMotor* beta_stepper_motor;
  95         StepperMotor* gamma_stepper_motor;
  96 };
  97
  98 // Convert from inches to millimeters ( our internal storage unit ) if needed
  99 inline float Robot::to_millimeters( float value ){
 100     return this->inch_mode ? value * 25.4 : value;
 101 }
 102 inline float Robot::from_millimeters( float value){
 103     return this->inch_mode ? value/25.4 : value;
 104 }
 105 inline void Robot::get_axis_position(float position[]){
 106     memcpy(position, this->last_milestone, sizeof(float)*3 );
 107 }
 108
 109 #endif