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 "libs/Module.h"
  14
  15 #include <string.h>
  16
  17 #define NEXT_ACTION_DEFAULT 0
  18 #define NEXT_ACTION_DWELL 1
  19 #define NEXT_ACTION_GO_HOME 2
  20
  21 #define MOTION_MODE_SEEK 0 // G0
  22 #define MOTION_MODE_LINEAR 1 // G1
  23 #define MOTION_MODE_CW_ARC 2 // G2
  24 #define MOTION_MODE_CCW_ARC 3 // G3
  25 #define MOTION_MODE_CANCEL 4 // G80
  26
  27 #define PATH_CONTROL_MODE_EXACT_PATH 0
  28 #define PATH_CONTROL_MODE_EXACT_STOP 1
  29 #define PATH_CONTROL_MODE_CONTINOUS 2
  30
  31 #define PROGRAM_FLOW_RUNNING 0
  32 #define PROGRAM_FLOW_PAUSED 1
  33 #define PROGRAM_FLOW_COMPLETED 2
  34
  35 #define SPINDLE_DIRECTION_CW 0
  36 #define SPINDLE_DIRECTION_CCW 1
  37
  38 class Gcode;
  39 class BaseSolution;
  40 class StepperMotor;
  41
  42 class Robot : public Module {
  43     public:
  44         Robot();
  45         void on_module_loaded();
  46         void on_config_reload(void* argument);
  47         void on_gcode_received(void* argument);
  48         void on_get_public_data(void* argument);
  49         void on_set_public_data(void* argument);
  50
  51         void reset_axis_position(float position, int axis);
  52         void get_axis_position(float position[]);
  53         float to_millimeters(float value);
  54         float from_millimeters(float value);
  55
  56         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
  57         bool absolute_mode;                                   // true for absolute mode ( default ), false for relative mode
  58                 void setToolOffset(const float offset[3]);
  59
  60     private:
  61         void distance_in_gcode_is_known(Gcode* gcode);
  62         void append_milestone( float target[], float rate_mm_s);
  63         void append_line( Gcode* gcode, float target[], float rate_mm_s);
  64         //void append_arc(float theta_start, float angular_travel, float radius, float depth, float rate);
  65         void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise );
  66
  67
  68         void compute_arc(Gcode* gcode, float offset[], float target[]);
  69
  70         float theta(float x, float y);
  71         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
  72
  73         float last_milestone[3];                             // Last position, in millimeters
  74         bool  inch_mode;                                       // true for inch mode, false for millimeter mode ( default )
  75         int8_t motion_mode;                                   // Motion mode for the current received Gcode
  76         float seek_rate;                                     // Current rate for seeking moves ( mm/s )
  77         float feed_rate;                                     // Current rate for feeding moves ( mm/s )
  78         uint8_t plane_axis_0, plane_axis_1, plane_axis_2;     // Current plane ( XY, XZ, YZ )
  79         float mm_per_line_segment;                           // Setting : Used to split lines into segments
  80         float mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
  81         float delta_segments_per_second;                     // Setting : Used to split lines into segments for delta based on speed
  82
  83         // Number of arc generation iterations by small angle approximation before exact arc trajectory
  84         // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
  85         // generations. In general, the default value is more than enough for the intended CNC applications
  86         // of grbl, and should be on the order or greater than the size of the buffer to help with the
  87         // computational efficiency of generating arcs.
  88         int arc_correction;                                   // Setting : how often to rectify arc computation
  89         float max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
  90
  91                 float toolOffset[3];
  92                 void clearToolOffset();
  93
  94     // Used by Stepper
  95     public:
  96         StepperMotor* alpha_stepper_motor;
  97         StepperMotor* beta_stepper_motor;
  98         StepperMotor* gamma_stepper_motor;
  99
 100         std::vector<StepperMotor*> actuators;
 101
 102         float seconds_per_minute;                            // for realtime speed change
 103 };
 104
 105 // Convert from inches to millimeters ( our internal storage unit ) if needed
 106 inline float Robot::to_millimeters( float value ){
 107     return this->inch_mode ? value * 25.4 : value;
 108 }
 109 inline float Robot::from_millimeters( float value){
 110     return this->inch_mode ? value/25.4 : value;
 111 }
 112 inline void Robot::get_axis_position(float position[]){
 113     memcpy(position, this->last_milestone, sizeof(float)*3 );
 114 }
 115
 116 #endif