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"
11 #include "mbed.h" // for us_ticker_read()
20 #include "nuts_bolts.h"
22 #include "StepperMotor.h"
24 #include "PublicDataRequest.h"
25 #include "PublicData.h"
26 #include "arm_solutions/BaseSolution.h"
27 #include "arm_solutions/CartesianSolution.h"
28 #include "arm_solutions/RotatableCartesianSolution.h"
29 #include "arm_solutions/LinearDeltaSolution.h"
30 #include "arm_solutions/RotaryDeltaSolution.h"
31 #include "arm_solutions/HBotSolution.h"
32 #include "arm_solutions/CoreXZSolution.h"
33 #include "arm_solutions/MorganSCARASolution.h"
34 #include "StepTicker.h"
35 #include "checksumm.h"
37 #include "ConfigValue.h"
38 #include "libs/StreamOutput.h"
39 #include "StreamOutputPool.h"
40 #include "ExtruderPublicAccess.h"
41 #include "GcodeDispatch.h"
44 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
45 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
46 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
47 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
48 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
49 #define arc_correction_checksum CHECKSUM("arc_correction")
50 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
51 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
52 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
53 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
54 #define save_g92_checksum CHECKSUM("save_g92")
57 #define arm_solution_checksum CHECKSUM("arm_solution")
58 #define cartesian_checksum CHECKSUM("cartesian")
59 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
60 #define rostock_checksum CHECKSUM("rostock")
61 #define linear_delta_checksum CHECKSUM("linear_delta")
62 #define rotary_delta_checksum CHECKSUM("rotary_delta")
63 #define delta_checksum CHECKSUM("delta")
64 #define hbot_checksum CHECKSUM("hbot")
65 #define corexy_checksum CHECKSUM("corexy")
66 #define corexz_checksum CHECKSUM("corexz")
67 #define kossel_checksum CHECKSUM("kossel")
68 #define morgan_checksum CHECKSUM("morgan")
70 // new-style actuator stuff
71 #define actuator_checksum CHEKCSUM("actuator")
73 #define step_pin_checksum CHECKSUM("step_pin")
74 #define dir_pin_checksum CHEKCSUM("dir_pin")
75 #define en_pin_checksum CHECKSUM("en_pin")
77 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
78 #define max_rate_checksum CHECKSUM("max_rate")
80 #define alpha_checksum CHECKSUM("alpha")
81 #define beta_checksum CHECKSUM("beta")
82 #define gamma_checksum CHECKSUM("gamma")
84 #define NEXT_ACTION_DEFAULT 0
85 #define NEXT_ACTION_DWELL 1
86 #define NEXT_ACTION_GO_HOME 2
88 #define MOTION_MODE_SEEK 0 // G0
89 #define MOTION_MODE_LINEAR 1 // G1
90 #define MOTION_MODE_CW_ARC 2 // G2
91 #define MOTION_MODE_CCW_ARC 3 // G3
92 #define MOTION_MODE_CANCEL 4 // G80
94 #define PATH_CONTROL_MODE_EXACT_PATH 0
95 #define PATH_CONTROL_MODE_EXACT_STOP 1
96 #define PATH_CONTROL_MODE_CONTINOUS 2
98 #define PROGRAM_FLOW_RUNNING 0
99 #define PROGRAM_FLOW_PAUSED 1
100 #define PROGRAM_FLOW_COMPLETED 2
102 #define SPINDLE_DIRECTION_CW 0
103 #define SPINDLE_DIRECTION_CCW 1
105 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
107 // 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
108 // It takes care of cutting arcs into segments, same thing for line that are too long
112 this->inch_mode
= false;
113 this->absolute_mode
= true;
114 this->motion_mode
= MOTION_MODE_SEEK
;
115 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
116 clear_vector(this->last_milestone
);
117 clear_vector(this->last_machine_position
);
118 this->arm_solution
= NULL
;
119 seconds_per_minute
= 60.0F
;
120 this->clearToolOffset();
121 this->compensationTransform
= nullptr;
122 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
123 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
124 this->next_command_is_MCS
= false;
125 this->disable_segmentation
= false;
128 //Called when the module has just been loaded
129 void Robot::on_module_loaded()
131 this->register_for_event(ON_GCODE_RECEIVED
);
137 #define ACTUATOR_CHECKSUMS(X) { \
138 CHECKSUM(X "_step_pin"), \
139 CHECKSUM(X "_dir_pin"), \
140 CHECKSUM(X "_en_pin"), \
141 CHECKSUM(X "_steps_per_mm"), \
142 CHECKSUM(X "_max_rate") \
145 void Robot::load_config()
147 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
148 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
149 // To make adding those solution easier, they have their own, separate object.
150 // Here we read the config to find out which arm solution to use
151 if (this->arm_solution
) delete this->arm_solution
;
152 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
153 // Note checksums are not const expressions when in debug mode, so don't use switch
154 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
155 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
157 } else if(solution_checksum
== corexz_checksum
) {
158 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
160 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
161 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
163 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
164 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
166 } else if(solution_checksum
== rotary_delta_checksum
) {
167 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
169 } else if(solution_checksum
== morgan_checksum
) {
170 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
172 } else if(solution_checksum
== cartesian_checksum
) {
173 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
176 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
179 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
180 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
181 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
182 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
183 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.5f
)->as_number();
184 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
186 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
187 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
188 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
190 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
191 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
193 // Make our 3 StepperMotors
194 uint16_t const checksums
[][5] = {
195 ACTUATOR_CHECKSUMS("alpha"),
196 ACTUATOR_CHECKSUMS("beta"),
197 ACTUATOR_CHECKSUMS("gamma"),
198 #if MAX_ROBOT_ACTUATORS > 3
199 ACTUATOR_CHECKSUMS("delta"),
200 ACTUATOR_CHECKSUMS("epsilon"),
201 ACTUATOR_CHECKSUMS("zeta")
204 constexpr size_t actuator_checksum_count
= sizeof(checksums
) / sizeof(checksums
[0]);
205 static_assert(actuator_checksum_count
>= k_max_actuators
, "Robot checksum array too small for k_max_actuators");
207 size_t motor_count
= std::min(this->arm_solution
->get_actuator_count(), k_max_actuators
);
208 for (size_t a
= 0; a
< motor_count
; 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 actuators
[a
] = new StepperMotor(pins
[0], pins
[1], pins
[2]);
215 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
216 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(checksums
[a
][4])->by_default(30000.0F
)->as_number());
219 check_max_actuator_speeds(); // check the configs are sane
221 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
222 // so the first move can be correct if homing is not performed
223 ActuatorCoordinates actuator_pos
;
224 arm_solution
->cartesian_to_actuator(last_milestone
, actuator_pos
);
225 for (size_t i
= 0; i
< actuators
.size(); i
++)
226 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
228 //this->clearToolOffset();
231 void Robot::push_state()
233 bool am
= this->absolute_mode
;
234 bool im
= this->inch_mode
;
235 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, im
, current_wcs
);
239 void Robot::pop_state()
241 if(!state_stack
.empty()) {
242 auto s
= state_stack
.top();
244 this->feed_rate
= std::get
<0>(s
);
245 this->seek_rate
= std::get
<1>(s
);
246 this->absolute_mode
= std::get
<2>(s
);
247 this->inch_mode
= std::get
<3>(s
);
248 this->current_wcs
= std::get
<4>(s
);
252 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
254 std::vector
<wcs_t
> v
;
255 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
256 for(auto& i
: wcs_offsets
) {
259 v
.push_back(g92_offset
);
260 v
.push_back(tool_offset
);
264 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
266 // M114.1 is a new way to do this (similar to how GRBL does it).
267 // it returns the realtime position based on the current step position of the actuators.
268 // this does require a FK to get a machine position from the actuator position
269 // and then invert all the transforms to get a workspace position from machine position
270 // M114 just does it the old way uses last_milestone and does inversse transforms to get the requested position
272 if(subcode
== 0) { // M114 print WCS
273 wcs_t pos
= mcs2wcs(last_milestone
);
274 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
)));
276 } 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)
277 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
]);
279 } 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)
280 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
]);
283 // get real time positions
284 // current actuator position in mm
285 ActuatorCoordinates current_position
{
286 actuators
[X_AXIS
]->get_current_position(),
287 actuators
[Y_AXIS
]->get_current_position(),
288 actuators
[Z_AXIS
]->get_current_position()
291 // get machine position from the actuator position using FK
293 arm_solution
->actuator_to_cartesian(current_position
, mpos
);
295 if(subcode
== 1) { // M114.1 print realtime WCS
296 // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little)
297 wcs_t pos
= mcs2wcs(mpos
);
298 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
)));
300 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
301 n
= snprintf(buf
, bufsize
, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
303 } else if(subcode
== 3) { // M114.3 print realtime actuator position
304 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
]);
310 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
311 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
313 return std::make_tuple(
314 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
),
315 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
),
316 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
)
320 // this does a sanity check that actuator speeds do not exceed steps rate capability
321 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
322 void Robot::check_max_actuator_speeds()
324 for (size_t i
= 0; i
< actuators
.size(); i
++) {
325 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
326 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
327 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
328 THEKERNEL
->streams
->printf("WARNING: actuator %c rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", 'A' + i
, step_freq
, actuators
[i
]->max_rate
);
333 //A GCode has been received
334 //See if the current Gcode line has some orders for us
335 void Robot::on_gcode_received(void *argument
)
337 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
339 this->motion_mode
= -1;
343 case 0: this->motion_mode
= MOTION_MODE_SEEK
; break;
344 case 1: this->motion_mode
= MOTION_MODE_LINEAR
; break;
345 case 2: this->motion_mode
= MOTION_MODE_CW_ARC
; break;
346 case 3: this->motion_mode
= MOTION_MODE_CCW_ARC
; break;
347 case 4: { // G4 pause
348 uint32_t delay_ms
= 0;
349 if (gcode
->has_letter('P')) {
350 delay_ms
= gcode
->get_int('P');
352 if (gcode
->has_letter('S')) {
353 delay_ms
+= gcode
->get_int('S') * 1000;
357 THEKERNEL
->conveyor
->wait_for_empty_queue();
358 // wait for specified time
359 uint32_t start
= us_ticker_read(); // mbed call
360 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
361 THEKERNEL
->call_event(ON_IDLE
, this);
362 if(THEKERNEL
->is_halted()) return;
368 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
369 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
370 size_t n
= gcode
->get_uint('P');
371 if(n
== 0) n
= current_wcs
; // set current coordinate system
375 std::tie(x
, y
, z
) = wcs_offsets
[n
];
376 if(gcode
->get_int('L') == 20) {
377 // this makes the current machine position (less compensation transform) the offset
378 // get current position in WCS
379 wcs_t pos
= mcs2wcs(last_milestone
);
381 if(gcode
->has_letter('X')){
382 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
385 if(gcode
->has_letter('Y')){
386 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
388 if(gcode
->has_letter('Z')) {
389 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
393 // the value is the offset from machine zero
394 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
395 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
396 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
398 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
403 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
404 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
405 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
406 case 20: this->inch_mode
= true; break;
407 case 21: this->inch_mode
= false; break;
409 case 54: case 55: case 56: case 57: case 58: case 59:
410 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
411 current_wcs
= gcode
->g
- 54;
412 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
413 current_wcs
+= gcode
->subcode
;
414 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
418 case 90: this->absolute_mode
= true; break;
419 case 91: this->absolute_mode
= false; break;
422 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
423 // reset G92 offsets to 0
424 g92_offset
= wcs_t(0, 0, 0);
426 } else if(gcode
->subcode
== 3) {
427 // initialize G92 to the specified values, only used for saving it with M500
428 float x
= 0, y
= 0, z
= 0;
429 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
430 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
431 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
432 g92_offset
= wcs_t(x
, y
, z
);
435 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
437 std::tie(x
, y
, z
) = g92_offset
;
438 // get current position in WCS
439 wcs_t pos
= mcs2wcs(last_milestone
);
441 // adjust g92 offset to make the current wpos == the value requested
442 if(gcode
->has_letter('X')){
443 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
445 if(gcode
->has_letter('Y')){
446 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
448 if(gcode
->has_letter('Z')) {
449 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
451 g92_offset
= wcs_t(x
, y
, z
);
458 } else if( gcode
->has_m
) {
460 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
461 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
464 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
465 if(!THEKERNEL
->is_grbl_mode()) break;
466 // fall through to M2
467 case 2: // M2 end of program
469 absolute_mode
= true;
472 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
475 case 18: // this used to support parameters, now it ignores them
477 THEKERNEL
->conveyor
->wait_for_empty_queue();
478 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
481 case 92: // M92 - set steps per mm
482 if (gcode
->has_letter('X'))
483 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
484 if (gcode
->has_letter('Y'))
485 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
486 if (gcode
->has_letter('Z'))
487 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
489 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->steps_per_mm
, actuators
[1]->steps_per_mm
, actuators
[2]->steps_per_mm
);
490 gcode
->add_nl
= true;
491 check_max_actuator_speeds();
496 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
497 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
501 case 120: // push state
505 case 121: // pop state
509 case 203: // M203 Set maximum feedrates in mm/sec
510 if (gcode
->has_letter('X'))
511 this->max_speeds
[X_AXIS
] = gcode
->get_value('X');
512 if (gcode
->has_letter('Y'))
513 this->max_speeds
[Y_AXIS
] = gcode
->get_value('Y');
514 if (gcode
->has_letter('Z'))
515 this->max_speeds
[Z_AXIS
] = gcode
->get_value('Z');
516 for (size_t i
= 0; i
< 3 && i
< actuators
.size(); i
++) {
517 if (gcode
->has_letter('A' + i
))
518 actuators
[i
]->set_max_rate(gcode
->get_value('A' + i
));
520 check_max_actuator_speeds();
522 if(gcode
->get_num_args() == 0) {
523 gcode
->stream
->printf("X:%g Y:%g Z:%g",
524 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
525 for (size_t i
= 0; i
< 3 && i
< actuators
.size(); i
++) {
526 gcode
->stream
->printf(" %c : %g", 'A' + i
, actuators
[i
]->get_max_rate()); //xxx
528 gcode
->add_nl
= true;
532 case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration
533 if (gcode
->has_letter('S')) {
534 float acc
= gcode
->get_value('S'); // mm/s^2
538 THEKERNEL
->planner
->acceleration
= acc
;
540 if (gcode
->has_letter('Z')) {
541 float acc
= gcode
->get_value('Z'); // mm/s^2
545 THEKERNEL
->planner
->z_acceleration
= acc
;
549 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate
550 if (gcode
->has_letter('X')) {
551 float jd
= gcode
->get_value('X');
555 THEKERNEL
->planner
->junction_deviation
= jd
;
557 if (gcode
->has_letter('Z')) {
558 float jd
= gcode
->get_value('Z');
559 // enforce minimum, -1 disables it and uses regular junction deviation
562 THEKERNEL
->planner
->z_junction_deviation
= jd
;
564 if (gcode
->has_letter('S')) {
565 float mps
= gcode
->get_value('S');
569 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
571 if (gcode
->has_letter('Y')) {
572 actuators
[0]->default_minimum_actuator_rate
= gcode
->get_value('Y');
576 case 220: // M220 - speed override percentage
577 if (gcode
->has_letter('S')) {
578 float factor
= gcode
->get_value('S');
579 // enforce minimum 10% speed
582 // enforce maximum 10x speed
583 if (factor
> 1000.0F
)
586 seconds_per_minute
= 6000.0F
/ factor
;
588 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
592 case 400: // wait until all moves are done up to this point
593 THEKERNEL
->conveyor
->wait_for_empty_queue();
596 case 500: // M500 saves some volatile settings to config override file
597 case 503: { // M503 just prints the settings
598 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
);
599 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL
->planner
->acceleration
, THEKERNEL
->planner
->z_acceleration
);
600 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
);
601 gcode
->stream
->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f",
602 this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
603 for (size_t i
= 0; i
< 3 && i
< actuators
.size(); i
++) {
604 gcode
->stream
->printf(" %c%1.5f", 'A' + i
, actuators
[i
]->get_max_rate());
606 gcode
->stream
->printf("\n");
608 // get or save any arm solution specific optional values
609 BaseSolution::arm_options_t options
;
610 if(arm_solution
->get_optional(options
) && !options
.empty()) {
611 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
612 for(auto &i
: options
) {
613 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
615 gcode
->stream
->printf("\n");
618 // save wcs_offsets and current_wcs
619 // TODO this may need to be done whenever they change to be compliant
620 gcode
->stream
->printf(";WCS settings\n");
621 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
623 for(auto &i
: wcs_offsets
) {
624 if(i
!= wcs_t(0, 0, 0)) {
626 std::tie(x
, y
, z
) = i
;
627 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
632 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
633 // 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
634 if(g92_offset
!= wcs_t(0, 0, 0)) {
636 std::tie(x
, y
, z
) = g92_offset
;
637 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
643 case 665: { // M665 set optional arm solution variables based on arm solution.
644 // the parameter args could be any letter each arm solution only accepts certain ones
645 BaseSolution::arm_options_t options
= gcode
->get_args();
646 options
.erase('S'); // don't include the S
647 options
.erase('U'); // don't include the U
648 if(options
.size() > 0) {
649 // set the specified options
650 arm_solution
->set_optional(options
);
653 if(arm_solution
->get_optional(options
)) {
654 // foreach optional value
655 for(auto &i
: options
) {
656 // print all current values of supported options
657 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
658 gcode
->add_nl
= true;
662 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
663 this->delta_segments_per_second
= gcode
->get_value('S');
664 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
666 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
667 this->mm_per_line_segment
= gcode
->get_value('U');
668 this->delta_segments_per_second
= 0;
669 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
677 if( this->motion_mode
>= 0) {
681 next_command_is_MCS
= false; // must be on same line as G0 or G1
684 // process a G0/G1/G2/G3
685 void Robot::process_move(Gcode
*gcode
)
687 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
688 float param
[3]{NAN
, NAN
, NAN
};
689 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
691 if( gcode
->has_letter(letter
) ) {
692 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
696 float offset
[3]{0,0,0};
697 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
698 if( gcode
->has_letter(letter
) ) {
699 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
703 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
704 float target
[3]{last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]};
705 if(!next_command_is_MCS
) {
706 if(this->absolute_mode
) {
707 // apply wcs offsets and g92 offset and tool offset
708 if(!isnan(param
[X_AXIS
])) {
709 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
);
712 if(!isnan(param
[Y_AXIS
])) {
713 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
);
716 if(!isnan(param
[Z_AXIS
])) {
717 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
);
721 // they are deltas from the last_milestone if specified
722 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
723 if(!isnan(param
[i
])) target
[i
] = param
[i
] + last_milestone
[i
];
728 // already in machine coordinates, we do not add tool offset for that
729 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
730 if(!isnan(param
[i
])) target
[i
] = param
[i
];
734 if( gcode
->has_letter('F') ) {
735 if( this->motion_mode
== MOTION_MODE_SEEK
)
736 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
738 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
742 //Perform any physical actions
743 switch(this->motion_mode
) {
744 case MOTION_MODE_CANCEL
:
746 case MOTION_MODE_SEEK
:
747 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
);
749 case MOTION_MODE_LINEAR
:
750 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
);
752 case MOTION_MODE_CW_ARC
:
753 case MOTION_MODE_CCW_ARC
:
754 moved
= this->compute_arc(gcode
, offset
, target
);
759 // set last_milestone to the calculated target
760 memcpy(this->last_milestone
, target
, sizeof(this->last_milestone
));
764 // We received a new gcode, and one of the functions
765 // determined the distance for that given gcode. So now we can attach this gcode to the right block
767 void Robot::distance_in_gcode_is_known(Gcode
* gcode
)
769 //If the queue is empty, execute immediately, otherwise attach to the last added block
770 //THEKERNEL->conveyor->append_gcode(gcode);
773 // reset the machine position for all axis. Used for homing.
774 // During homing compensation is turned off (actually not used as it drives steppers directly)
775 // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
776 // so in those cases the final position is compensated.
777 void Robot::reset_axis_position(float x
, float y
, float z
)
779 // these are set to the same as compensation was not used to get to the current position
780 last_machine_position
[X_AXIS
]= last_milestone
[X_AXIS
] = x
;
781 last_machine_position
[Y_AXIS
]= last_milestone
[Y_AXIS
] = y
;
782 last_machine_position
[Z_AXIS
]= last_milestone
[Z_AXIS
] = z
;
784 // now set the actuator positions to match
785 ActuatorCoordinates actuator_pos
;
786 arm_solution
->cartesian_to_actuator(this->last_machine_position
, actuator_pos
);
787 for (size_t i
= 0; i
< actuators
.size(); i
++)
788 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
791 // Reset the position for an axis (used in homing)
792 void Robot::reset_axis_position(float position
, int axis
)
794 last_milestone
[axis
] = position
;
795 reset_axis_position(last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
798 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
799 // then sets the axis positions to match. currently only called from Endstops.cpp
800 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
802 for (size_t i
= 0; i
< actuators
.size(); i
++)
803 actuators
[i
]->change_last_milestone(ac
[i
]);
805 // now correct axis positions then recorrect actuator to account for rounding
806 reset_position_from_current_actuator_position();
809 // Use FK to find out where actuator is and reset to match
810 void Robot::reset_position_from_current_actuator_position()
812 ActuatorCoordinates actuator_pos
;
813 for (size_t i
= 0; i
< actuators
.size(); i
++) {
814 // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort
815 actuator_pos
[i
] = actuators
[i
]->get_current_position();
818 // discover machine position from where actuators actually are
819 arm_solution
->actuator_to_cartesian(actuator_pos
, last_machine_position
);
820 // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone
821 memcpy(last_milestone
, last_machine_position
, sizeof last_milestone
);
823 // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate.
824 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
825 // to get everything in perfect sync.
826 arm_solution
->cartesian_to_actuator(last_machine_position
, actuator_pos
);
827 for (size_t i
= 0; i
< actuators
.size(); i
++)
828 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
831 // Convert target (in machine coordinates) from millimeters to steps, and append this to the planner
832 // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
833 // all transforms and is what we actually convert to actuator positions
834 bool Robot::append_milestone(Gcode
* gcode
, const float target
[], float rate_mm_s
)
838 ActuatorCoordinates actuator_pos
;
839 float transformed_target
[3]; // adjust target for bed compensation and WCS offsets
840 float millimeters_of_travel
;
842 // catch negative or zero feed rates and return the same error as GRBL does
843 if(rate_mm_s
<= 0.0F
) {
844 gcode
->is_error
= true;
845 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
849 // unity transform by default
850 memcpy(transformed_target
, target
, sizeof(transformed_target
));
852 // check function pointer and call if set to transform the target to compensate for bed
853 if(compensationTransform
) {
854 // some compensation strategies can transform XYZ, some just change Z
855 compensationTransform(transformed_target
);
858 // find distance moved by each axis, use transformed target from the current machine position
859 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
860 deltas
[axis
] = transformed_target
[axis
] - last_machine_position
[axis
];
863 // Compute how long this move moves, so we can attach it to the block for later use
864 millimeters_of_travel
= sqrtf( powf( deltas
[X_AXIS
], 2 ) + powf( deltas
[Y_AXIS
], 2 ) + powf( deltas
[Z_AXIS
], 2 ) );
866 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
867 // 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
868 if(millimeters_of_travel
< 0.00001F
) return false;
870 // this is the machine position
871 memcpy(this->last_machine_position
, transformed_target
, sizeof(this->last_machine_position
));
873 // find distance unit vector
874 for (int i
= 0; i
< 3; i
++)
875 unit_vec
[i
] = deltas
[i
] / millimeters_of_travel
;
877 // Do not move faster than the configured cartesian limits
878 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++) {
879 if ( max_speeds
[axis
] > 0 ) {
880 float axis_speed
= fabs(unit_vec
[axis
] * rate_mm_s
);
882 if (axis_speed
> max_speeds
[axis
])
883 rate_mm_s
*= ( max_speeds
[axis
] / axis_speed
);
887 // find actuator position given the machine position, use actual adjusted target
888 arm_solution
->cartesian_to_actuator( this->last_machine_position
, actuator_pos
);
890 float isecs
= rate_mm_s
/ millimeters_of_travel
;
891 // check per-actuator speed limits
892 for (size_t actuator
= 0; actuator
< actuators
.size(); actuator
++) {
893 float actuator_rate
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->last_milestone_mm
) * isecs
;
894 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
895 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
896 isecs
= rate_mm_s
/ millimeters_of_travel
;
900 // Append the block to the planner
901 THEKERNEL
->planner
->append_block( actuator_pos
, rate_mm_s
, millimeters_of_travel
, unit_vec
);
906 // Append a move to the queue ( cutting it into segments if needed )
907 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
)
909 // Find out the distance for this move in MCS
910 // NOTE we need to do sqrt here as this setting of millimeters_of_travel is used by extruder and other modules even if there is no XYZ move
911 gcode
->millimeters_of_travel
= sqrtf(powf( target
[X_AXIS
] - last_milestone
[X_AXIS
], 2 ) + powf( target
[Y_AXIS
] - last_milestone
[Y_AXIS
], 2 ) + powf( target
[Z_AXIS
] - last_milestone
[Z_AXIS
], 2 ));
913 // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves )
914 if( gcode
->millimeters_of_travel
< 0.00001F
) return false;
916 // Mark the gcode as having a known distance
917 this->distance_in_gcode_is_known( gcode
);
919 // if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit
920 // Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm
921 // We also check we are not exceeding the E max_speed for the current extruder
922 // We ask Extruder to do all the work, but as Extruder won't even see this gcode until after it has been planned
923 // we need to ask it now passing in the relevant data.
924 // NOTE we need to do this before we segment the line (for deltas)
925 if(gcode
->has_letter('E')) {
927 data
[0] = gcode
->get_value('E'); // E target (may be absolute or relative)
928 data
[1] = rate_mm_s
/ gcode
->millimeters_of_travel
; // inverted seconds for the move
929 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
930 rate_mm_s
*= data
[1];
931 //THEKERNEL->streams->printf("Extruder has changed the rate by %f to %f\n", data[1], rate_mm_s);
935 // 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.
936 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
937 // 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
940 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
943 } else if(this->delta_segments_per_second
> 1.0F
) {
944 // enabled if set to something > 1, it is set to 0.0 by default
945 // segment based on current speed and requested segments per second
946 // the faster the travel speed the fewer segments needed
947 // NOTE rate is mm/sec and we take into account any speed override
948 float seconds
= gcode
->millimeters_of_travel
/ rate_mm_s
;
949 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
950 // TODO if we are only moving in Z on a delta we don't really need to segment at all
953 if(this->mm_per_line_segment
== 0.0F
) {
954 segments
= 1; // don't split it up
956 segments
= ceilf( gcode
->millimeters_of_travel
/ this->mm_per_line_segment
);
962 // A vector to keep track of the endpoint of each segment
963 float segment_delta
[3];
964 float segment_end
[3]{last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]};
966 // How far do we move each segment?
967 for (int i
= X_AXIS
; i
<= Z_AXIS
; i
++)
968 segment_delta
[i
] = (target
[i
] - last_milestone
[i
]) / segments
;
970 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
971 // We always add another point after this loop so we stop at segments-1, ie i < segments
972 for (int i
= 1; i
< segments
; i
++) {
973 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
974 for(int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++ )
975 segment_end
[axis
] += segment_delta
[axis
];
977 // Append the end of this segment to the queue
978 bool b
= this->append_milestone(gcode
, segment_end
, rate_mm_s
);
983 // Append the end of this full move to the queue
984 if(this->append_milestone(gcode
, target
, rate_mm_s
)) moved
= true;
986 this->next_command_is_MCS
= false; // always reset this
988 // this is not neede as COnveyor::on_main_loop will do something
990 // // if adding these blocks didn't start executing, do that now
991 // THEKERNEL->conveyor->ensure_running();
998 // Append an arc to the queue ( cutting it into segments as needed )
999 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1003 float center_axis0
= this->last_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1004 float center_axis1
= this->last_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1005 float linear_travel
= target
[this->plane_axis_2
] - this->last_milestone
[this->plane_axis_2
];
1006 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1007 float r_axis1
= -offset
[this->plane_axis_1
];
1008 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1009 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1011 // Patch from GRBL Firmware - Christoph Baumann 04072015
1012 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1013 float angular_travel
= atan2(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1014 if (is_clockwise
) { // Correct atan2 output per direction
1015 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= 2 * M_PI
; }
1017 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= 2 * M_PI
; }
1020 // Find the distance for this gcode
1021 gcode
->millimeters_of_travel
= hypotf(angular_travel
* radius
, fabs(linear_travel
));
1023 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1024 if( gcode
->millimeters_of_travel
< 0.00001F
) {
1028 // Mark the gcode as having a known distance
1029 this->distance_in_gcode_is_known( gcode
);
1031 // Figure out how many segments for this gcode
1032 uint16_t segments
= floorf(gcode
->millimeters_of_travel
/ this->mm_per_arc_segment
);
1034 float theta_per_segment
= angular_travel
/ segments
;
1035 float linear_per_segment
= linear_travel
/ segments
;
1037 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1038 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1039 r_T = [cos(phi) -sin(phi);
1040 sin(phi) cos(phi] * r ;
1041 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1042 defined from the circle center to the initial position. Each line segment is formed by successive
1043 vector rotations. This requires only two cos() and sin() computations to form the rotation
1044 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1045 all float numbers are single precision on the Arduino. (True float precision will not have
1046 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1047 tool precision in some cases. Therefore, arc path correction is implemented.
1049 Small angle approximation may be used to reduce computation overhead further. This approximation
1050 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1051 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1052 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1053 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1054 issue for CNC machines with the single precision Arduino calculations.
1055 This approximation also allows mc_arc to immediately insert a line segment into the planner
1056 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1057 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1058 This is important when there are successive arc motions.
1060 // Vector rotation matrix values
1061 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1062 float sin_T
= theta_per_segment
;
1064 float arc_target
[3];
1071 // Initialize the linear axis
1072 arc_target
[this->plane_axis_2
] = this->last_milestone
[this->plane_axis_2
];
1075 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1076 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1078 if (count
< this->arc_correction
) {
1079 // Apply vector rotation matrix
1080 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1081 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1085 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1086 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1087 cos_Ti
= cosf(i
* theta_per_segment
);
1088 sin_Ti
= sinf(i
* theta_per_segment
);
1089 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1090 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1094 // Update arc_target location
1095 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1096 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1097 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1099 // Append this segment to the queue
1100 bool b
= this->append_milestone(gcode
, arc_target
, this->feed_rate
/ seconds_per_minute
);
1104 // Ensure last segment arrives at target location.
1105 if(this->append_milestone(gcode
, target
, this->feed_rate
/ seconds_per_minute
)) moved
= true;
1110 // Do the math for an arc and add it to the queue
1111 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[])
1115 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1117 // Set clockwise/counter-clockwise sign for mc_arc computations
1118 bool is_clockwise
= false;
1119 if( this->motion_mode
== MOTION_MODE_CW_ARC
) {
1120 is_clockwise
= true;
1124 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1128 float Robot::theta(float x
, float y
)
1130 float t
= atanf(x
/ fabs(y
));
1142 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1144 this->plane_axis_0
= axis_0
;
1145 this->plane_axis_1
= axis_1
;
1146 this->plane_axis_2
= axis_2
;
1149 void Robot::clearToolOffset()
1151 this->tool_offset
= wcs_t(0,0,0);
1154 void Robot::setToolOffset(const float offset
[3])
1156 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1159 float Robot::get_feed_rate() const
1161 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;