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 #include "ActuatorCoordinates.h"
  19
  20 class Gcode;
  21 class BaseSolution;
  22 class StepperMotor;
  23
  24 // 9 WCS offsets
  25 #define MAX_WCS 9UL
  26
  27 class Robot : public Module {
  28     public:
  29         using wcs_t= std::tuple<float, float, float>;
  30         Robot();
  31         void on_module_loaded();
  32         void on_gcode_received(void* argument);
  33
  34         void reset_axis_position(float position, int axis);
  35         void reset_axis_position(float x, float y, float z);
  36         void reset_position_from_current_actuator_position();
  37         float get_seconds_per_minute() const { return seconds_per_minute; }
  38         float get_z_maxfeedrate() const { return this->max_speeds[2]; }
  39         void setToolOffset(const float offset[3]);
  40         float get_feed_rate() const;
  41         void  push_state();
  42         void  pop_state();
  43         void check_max_actuator_speeds();
  44         float to_millimeters( float value ) const { return this->inch_mode ? value * 25.4F : value; }
  45         float from_millimeters( float value) const { return this->inch_mode ? value/25.4F : value;  }
  46         void get_axis_position(float position[]) const { memcpy(position, this->last_milestone, sizeof this->last_milestone); }
  47         wcs_t get_axis_position() const { return wcs_t(last_milestone[0], last_milestone[1], last_milestone[2]); }
  48         int print_position(uint8_t subcode, char *buf, size_t bufsize) const;
  49         uint8_t get_current_wcs() const { return current_wcs; }
  50
  51         std::vector<wcs_t> get_wcs_state() const;
  52
  53         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
  54
  55         // gets accessed by Panel, Endstops, ZProbe
  56         std::array<StepperMotor*, k_max_actuators> actuators;
  57
  58         // set by a leveling strategy to transform the target of a move according to the current plan
  59         std::function<void(float[3])> compensationTransform;
  60
  61         struct {
  62             bool inch_mode:1;                                 // true for inch mode, false for millimeter mode ( default )
  63             bool absolute_mode:1;                             // true for absolute mode ( default ), false for relative mode
  64             bool next_command_is_MCS:1;                       // set by G53
  65             uint8_t plane_axis_0:2;                           // Current plane ( XY, XZ, YZ )
  66             uint8_t plane_axis_1:2;
  67             uint8_t plane_axis_2:2;
  68         };
  69
  70     private:
  71         void load_config();
  72         void distance_in_gcode_is_known(Gcode* gcode);
  73         bool append_milestone( Gcode *gcode, const float target[], float rate_mm_s);
  74         bool append_line( Gcode* gcode, const float target[], float rate_mm_s);
  75         bool append_arc( Gcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise );
  76         bool compute_arc(Gcode* gcode, const float offset[], const float target[]);
  77         void process_move(Gcode *gcode);
  78
  79         float theta(float x, float y);
  80         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
  81         void clearToolOffset();
  82
  83         // Workspace coordinate systems
  84         wcs_t mcs2wcs(const float *pos) const;
  85
  86         std::array<wcs_t, MAX_WCS> wcs_offsets; // these are persistent once saved with M500
  87         uint8_t current_wcs{0}; // 0 means G54 is enabled this is persistent once saved with M500
  88         wcs_t g92_offset;
  89         wcs_t tool_offset; // used for multiple extruders, sets the tool offset for the current extruder applied first
  90
  91         using saved_state_t= std::tuple<float, float, bool, bool, uint8_t>; // save current feedrate and absolute mode, inch mode, current_wcs
  92         std::stack<saved_state_t> state_stack;               // saves state from M120
  93
  94         float last_milestone[3]; // Last requested position, in millimeters, which is what we were requested to move to in the gcode after offsets applied but before compensation transform
  95         float last_machine_position[3]; // Last machine position, which is the position before converting to actuator coordinates (includes compensation transform)
  96         int8_t motion_mode;                                  // Motion mode for the current received Gcode
  97         float seek_rate;                                     // Current rate for seeking moves ( mm/s )
  98         float feed_rate;                                     // Current rate for feeding moves ( mm/s )
  99         float mm_per_line_segment;                           // Setting : Used to split lines into segments
 100         float mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
 101         float delta_segments_per_second;                     // Setting : Used to split lines into segments for delta based on speed
 102         float seconds_per_minute;                            // for realtime speed change
 103
 104         // Number of arc generation iterations by small angle approximation before exact arc trajectory
 105         // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
 106         // generations. In general, the default value is more than enough for the intended CNC applications
 107         // of grbl, and should be on the order or greater than the size of the buffer to help with the
 108         // computational efficiency of generating arcs.
 109         int arc_correction;                                   // Setting : how often to rectify arc computation
 110         float max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
 111
 112         // Used by Stepper, Planner
 113         friend class Planner;
 114         friend class Stepper;
 115 };
 116
 117
 118 #endif