this->motion_mode = MOTION_MODE_SEEK;
this->select_plane(X_AXIS, Y_AXIS, Z_AXIS);
clear_vector(this->last_milestone);
- clear_vector(this->transformed_last_milestone);
+ clear_vector(this->last_machine_position);
this->arm_solution = NULL;
seconds_per_minute = 60.0F;
this->clearToolOffset();
this->compensationTransform = nullptr;
this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F));
this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F);
+ this->next_command_is_MCS = false;
}
//Called when the module has just been loaded
{
bool am = this->absolute_mode;
bool im = this->inch_mode;
- saved_state_t s(this->feed_rate, this->seek_rate, am, im);
+ saved_state_t s(this->feed_rate, this->seek_rate, am, im, current_wcs);
state_stack.push(s);
}
this->seek_rate = std::get<1>(s);
this->absolute_mode = std::get<2>(s);
this->inch_mode = std::get<3>(s);
+ this->current_wcs = std::get<4>(s);
}
}
+std::vector<Robot::wcs_t> Robot::get_wcs_state() const
+{
+ std::vector<wcs_t> v;
+ v.push_back(wcs_t(current_wcs, k_max_wcs, 0));
+ for(auto& i : wcs_offsets) {
+ v.push_back(i);
+ }
+ v.push_back(g92_offset);
+ v.push_back(tool_offset);
+ return v;
+}
+
+int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const
+{
+ // M114.1 is a new way to do this (similar to how GRBL does it).
+ // it returns the realtime position based on the current step position of the actuators.
+ // this does require a FK to get a machine position from the actuator position
+ // and then invert all the transforms to get a workspace position from machine position
+ // M114 just does it the old way uses last_milestone and does inversse tranfroms to get the requested position
+ int n = 0;
+ if(subcode == 0) { // M114 print WCS
+ wcs_t pos= mcs2wcs(last_milestone);
+ n = snprintf(buf, bufsize, "C: X:%1.3f Y:%1.3f Z:%1.3f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos)));
+
+ } else if(subcode == 4) { // M114.3 print last milestone (which should be the same as machine position if axis are not moving and no level compensation)
+ n = snprintf(buf, bufsize, "LMS: X:%1.3f Y:%1.3f Z:%1.3f", last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]);
+
+ } else if(subcode == 5) { // M114.4 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
+ n = snprintf(buf, bufsize, "LMCS: X:%1.3f Y:%1.3f Z:%1.3f", last_machine_position[X_AXIS], last_machine_position[Y_AXIS], last_machine_position[Z_AXIS]);
+
+ } else {
+ // get real time positions
+ // current actuator position in mm
+ ActuatorCoordinates current_position{
+ actuators[X_AXIS]->get_current_position(),
+ actuators[Y_AXIS]->get_current_position(),
+ actuators[Z_AXIS]->get_current_position()
+ };
+
+ // get machine position from the actuator position using FK
+ float mpos[3];
+ arm_solution->actuator_to_cartesian(current_position, mpos);
+
+ if(subcode == 1) { // M114.1 print realtime WCS
+ // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little)
+ wcs_t pos= mcs2wcs(mpos);
+ n = snprintf(buf, bufsize, "C: X:%1.3f Y:%1.3f Z:%1.3f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos)));
+
+ } else if(subcode == 2) { // M114.1 print realtime Machine coordinate system
+ n = snprintf(buf, bufsize, "MPOS: X:%1.3f Y:%1.3f Z:%1.3f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]);
+
+ } else if(subcode == 3) { // M114.2 print realtime actuator position
+ n = snprintf(buf, bufsize, "APOS: A:%1.3f B:%1.3f C:%1.3f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+ }
+ }
+ return n;
+}
+
+// converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
+Robot::wcs_t Robot::mcs2wcs(const float *pos) const
+{
+ return std::make_tuple(
+ pos[X_AXIS] - std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset) - std::get<X_AXIS>(tool_offset),
+ pos[Y_AXIS] - std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset) - std::get<Y_AXIS>(tool_offset),
+ pos[Z_AXIS] - std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset) - std::get<Z_AXIS>(tool_offset)
+ );
+}
+
// this does a sanity check that actuator speeds do not exceed steps rate capability
// we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
void Robot::check_max_actuator_speeds()
this->motion_mode = -1;
- //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly
if( gcode->has_g) {
switch( gcode->g ) {
- case 0: this->motion_mode = MOTION_MODE_SEEK; break;
- case 1: this->motion_mode = MOTION_MODE_LINEAR; break;
- case 2: this->motion_mode = MOTION_MODE_CW_ARC; break;
- case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break;
- case 4: {
+ case 0: this->motion_mode = MOTION_MODE_SEEK; break;
+ case 1: this->motion_mode = MOTION_MODE_LINEAR; break;
+ case 2: this->motion_mode = MOTION_MODE_CW_ARC; break;
+ case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break;
+ case 4: { // G4 pause
uint32_t delay_ms = 0;
if (gcode->has_letter('P')) {
delay_ms = gcode->get_int('P');
uint32_t start = us_ticker_read(); // mbed call
while ((us_ticker_read() - start) < delay_ms * 1000) {
THEKERNEL->call_event(ON_IDLE, this);
+ if(THEKERNEL->is_halted()) return;
}
}
}
break;
- case 10: // G10 L2 Pn Xn Yn Zn set WCS
- // TODO implement G10 L20
- if(gcode->has_letter('L') && gcode->get_int('L') == 2 && gcode->has_letter('P')) {
+ case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
+ if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) {
size_t n = gcode->get_uint('P');
if(n == 0) n = current_wcs; // set current coordinate system
else --n;
if(n < k_max_wcs) {
float x, y, z;
std::tie(x, y, z) = wcs_offsets[n];
- if(gcode->has_letter('X')) x = this->to_millimeters(gcode->get_value('X'));
- if(gcode->has_letter('Y')) y = this->to_millimeters(gcode->get_value('Y'));
- if(gcode->has_letter('Z')) z = this->to_millimeters(gcode->get_value('Z'));
+ if(gcode->get_int('L') == 20) {
+ // this makes the current machine position (less compensation transform) the offset
+ // get current position in WCS
+ wcs_t pos= mcs2wcs(last_milestone);
+
+ if(gcode->has_letter('X')){
+ x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos);
+ }
+
+ if(gcode->has_letter('Y')){
+ y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos);
+ }
+ if(gcode->has_letter('Z')) {
+ z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos);
+ }
+
+ } else {
+ // the value is the offset from machine zero
+ if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X'));
+ if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y'));
+ if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z'));
+ }
wcs_offsets[n] = wcs_t(x, y, z);
}
}
case 91: this->absolute_mode = false; break;
case 92: {
- if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) {
+ if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) {
// reset G92 offsets to 0
g92_offset = wcs_t(0, 0, 0);
- } else if(gcode->subcode == 3) {
- // non-standard - set machine coordinates (like old G92 would do) basically a manual home
- if(gcode->get_num_args() == 0) {
- // sets current position to 0,0,0 in machine coordinates
- for (int i = X_AXIS; i <= Z_AXIS; ++i) reset_axis_position(0, i);
-
- // now we need to clear the g92 offsets, and set last_milestone
- // TODO is this correct? What about the compensationTransform? do we need the dreaded inverseCompensation Transform?
- g92_offset = wcs_t(0, 0, 0);
- this->last_milestone[0] -= std::get<0>(wcs_offsets[current_wcs]);
- this->last_milestone[1] -= std::get<1>(wcs_offsets[current_wcs]);
- this->last_milestone[2] -= std::get<2>(wcs_offsets[current_wcs]);
-
- } else {
- // sets the given axis to the provided value
- float x, y, z;
- std::tie(x, y, z) = g92_offset;
- if(gcode->has_letter('X')) { reset_axis_position(this->to_millimeters(gcode->get_value('X')), X_AXIS); this->last_milestone[0] -= std::get<0>(wcs_offsets[current_wcs]); x= 0; }
- if(gcode->has_letter('Y')) { reset_axis_position(this->to_millimeters(gcode->get_value('Y')), Y_AXIS); this->last_milestone[1] -= std::get<1>(wcs_offsets[current_wcs]); y= 0; }
- if(gcode->has_letter('Z')) { reset_axis_position(this->to_millimeters(gcode->get_value('Z')), Z_AXIS); this->last_milestone[2] -= std::get<2>(wcs_offsets[current_wcs]); z= 0; }
-
- // reset the g92 offset
- g92_offset = wcs_t(x, y, z);
- }
-
-
} else {
- // standard setting of the g92 offsets, making current position whatever the coordinate arguments are
+ // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
float x, y, z;
std::tie(x, y, z) = g92_offset;
- if(gcode->has_letter('X')) x = last_milestone[0] - to_millimeters(gcode->get_value('X'));
- if(gcode->has_letter('Y')) y = last_milestone[1] - to_millimeters(gcode->get_value('Y'));
- if(gcode->has_letter('Z')) z = last_milestone[2] - to_millimeters(gcode->get_value('Z'));
+ // get current position in WCS
+ wcs_t pos= mcs2wcs(last_milestone);
+
+ // adjust g92 offset to make the current wpos == the value requested
+ if(gcode->has_letter('X')){
+ x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos);
+ }
+ if(gcode->has_letter('Y')){
+ y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos);
+ }
+ if(gcode->has_letter('Z')) {
+ z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos);
+ }
g92_offset = wcs_t(x, y, z);
}
+
return;
}
}
case 2: // M2 end of program
current_wcs = 0;
absolute_mode = true;
- motion_mode = MOTION_MODE_LINEAR; // feed
break;
case 92: // M92 - set steps per mm
check_max_actuator_speeds();
return;
- case 114: {
+ case 114:{
char buf[64];
- int n = 0;
- if(gcode->subcode == 0) { // M114 print WCS
- n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f",
- from_millimeters(this->last_milestone[0]),
- from_millimeters(this->last_milestone[1]),
- from_millimeters(this->last_milestone[2]));
-
- } else if(gcode->subcode == 1) { // M114.1 print Machine coordinate system
- // TODO figure this out
- n = snprintf(buf, sizeof(buf), "X:%1.3f Y:%1.3f Z:%1.3f",
- from_millimeters(this->last_milestone[0]) + (std::get<0>(wcs_offsets[current_wcs]) + std::get<0>(g92_offset)),
- from_millimeters(this->last_milestone[1]) + (std::get<1>(wcs_offsets[current_wcs]) + std::get<1>(g92_offset)),
- from_millimeters(this->last_milestone[2]) + (std::get<2>(wcs_offsets[current_wcs]) + std::get<2>(g92_offset)) );
-
- } else if(gcode->subcode == 2) { // M114.2 print realtime actuator position
- n = snprintf(buf, sizeof(buf), "A:%1.3f B:%1.3f C:%1.3f",
- actuators[X_AXIS]->get_current_position(),
- actuators[Y_AXIS]->get_current_position(),
- actuators[Z_AXIS]->get_current_position() );
- }
- if(n > 0)
- gcode->txt_after_ok.append(buf, n);
+ int n= print_position(gcode->subcode, buf, sizeof buf);
+ if(n > 0) gcode->txt_after_ok.append(buf, n);
+ return;
}
- return;
case 120: // push state
push_state();
// save wcs_offsets and current_wcs
// TODO this may need to be done whenever they change to be compliant
gcode->stream->printf(";WCS settings\n");
- gcode->stream->printf("G5%c", std::min(current_wcs, (uint8_t)(5 + '4')));
+ gcode->stream->printf("G5%c", std::min(current_wcs, (uint8_t)5) + '4');
if(current_wcs >= 6) {
- gcode->stream->printf(".%c\n", '1' + (current_wcs - 5));
+ gcode->stream->printf(".%c\n", '1' + (current_wcs - 6));
} else {
gcode->stream->printf("\n");
}
if(gcode->m == 503) {
// just print the G92 setting as it is not saved
+ // TODO linuxcnc does seem to save G92, so maybe we should here too
if(g92_offset != wcs_t(0, 0, 0)) {
float x, y, z;
std::tie(x, y, z) = g92_offset;
}
}
- if( this->motion_mode < 0)
- return;
+ if( this->motion_mode >= 0) {
+ process_move(gcode);
+ }
-//Get parameters
- float target[3], offset[3];
- clear_vector(offset);
+ next_command_is_MCS = false; // must be on same line as G0 or G1
+}
- memcpy(target, this->last_milestone, sizeof(target)); //default to last target
+// process a G0/G1/G2/G3
+void Robot::process_move(Gcode *gcode)
+{
+ // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
+ float param[3]{NAN, NAN, NAN};
+ for(int i= X_AXIS; i <= Z_AXIS; ++i) {
+ char letter= 'X'+i;
+ if( gcode->has_letter(letter) ) {
+ param[i] = this->to_millimeters(gcode->get_value(letter));
+ }
+ }
+ float offset[3]{0,0,0};
for(char letter = 'I'; letter <= 'K'; letter++) {
if( gcode->has_letter(letter) ) {
offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter));
}
}
- for(char letter = 'X'; letter <= 'Z'; letter++) {
- if( gcode->has_letter(letter) ) {
- target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']);
+
+ // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
+ float target[3]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]};
+ if(!next_command_is_MCS) {
+ if(this->absolute_mode) {
+ // apply wcs offsets and g92 offset and tool offset
+ if(!isnan(param[X_AXIS])) {
+ 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);
+ }
+
+ if(!isnan(param[Y_AXIS])) {
+ 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);
+ }
+
+ if(!isnan(param[Z_AXIS])) {
+ 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);
+ }
+
+ }else{
+ // they are deltas from the last_milestone if specified
+ for(int i= X_AXIS; i <= Z_AXIS; ++i) {
+ if(!isnan(param[i])) target[i] = param[i] + last_milestone[i];
+ }
+ }
+
+ }else{
+ // already in machine coordinates, we do not add tool offset for that
+ for(int i= X_AXIS; i <= Z_AXIS; ++i) {
+ if(!isnan(param[i])) target[i] = param[i];
}
}
this->feed_rate = this->to_millimeters( gcode->get_value('F') );
}
-//Perform any physical actions
+ bool moved= false;
+ //Perform any physical actions
switch(this->motion_mode) {
- case MOTION_MODE_CANCEL: break;
- case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break;
- case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break;
+ case MOTION_MODE_CANCEL:
+ break;
+ case MOTION_MODE_SEEK:
+ moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute );
+ break;
+ case MOTION_MODE_LINEAR:
+ moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute );
+ break;
case MOTION_MODE_CW_ARC:
- case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break;
+ case MOTION_MODE_CCW_ARC:
+ moved= this->compute_arc(gcode, offset, target );
+ break;
}
-// last_milestone was set to target in append_milestone, no need to do it again
-
+ if(moved) {
+ // set last_milestone to the calculated target
+ memcpy(this->last_milestone, target, sizeof(this->last_milestone));
+ }
}
// We received a new gcode, and one of the functions
THEKERNEL->conveyor->append_gcode(gcode);
}
-// reset the position for all axis (used in homing for delta as last_milestone may be bogus)
+// reset the machine position for all axis. Used for homing.
+// During homing compensation is turned off (actually not used as it drives steppers directly)
+// once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
+// so in those cases the final position is compensated.
void Robot::reset_axis_position(float x, float y, float z)
{
- this->last_milestone[X_AXIS] = x;
- this->last_milestone[Y_AXIS] = y;
- this->last_milestone[Z_AXIS] = z;
- this->transformed_last_milestone[X_AXIS] = x;
- this->transformed_last_milestone[Y_AXIS] = y;
- this->transformed_last_milestone[Z_AXIS] = z;
+ // these are set to the same as compensation was not used to get to the current position
+ last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x;
+ last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y;
+ last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z;
+ // now set the actuator positions to match
ActuatorCoordinates actuator_pos;
- arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
+ arm_solution->cartesian_to_actuator(this->last_machine_position, actuator_pos);
for (size_t i = 0; i < actuators.size(); i++)
actuators[i]->change_last_milestone(actuator_pos[i]);
-
- // we also reset G92 offsets
- g92_offset = wcs_t(0, 0, 0);
}
// Reset the position for an axis (used in homing)
void Robot::reset_axis_position(float position, int axis)
{
- this->last_milestone[axis] = position;
- this->transformed_last_milestone[axis] = position;
-
- ActuatorCoordinates actuator_pos;
- arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
-
- for (size_t i = 0; i < actuators.size(); i++){
- actuators[i]->change_last_milestone(actuator_pos[i]);
- }
-
- // we also reset G92 offsets
- switch(axis) {
- case X_AXIS: std::get<0>(g92_offset)= 0; break;
- case Y_AXIS: std::get<1>(g92_offset)= 0; break;
- case Z_AXIS: std::get<2>(g92_offset)= 0; break;
- }
-
+ last_milestone[axis] = position;
+ reset_axis_position(last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]);
}
-// Use FK to find out where actuator is and reset lastmilestone to match
+// Use FK to find out where actuator is and reset to match
void Robot::reset_position_from_current_actuator_position()
{
ActuatorCoordinates actuator_pos;
for (size_t i = 0; i < actuators.size(); i++) {
actuator_pos[i] = actuators[i]->get_current_position();
}
- arm_solution->actuator_to_cartesian(actuator_pos, this->last_milestone);
- memcpy(this->transformed_last_milestone, this->last_milestone, sizeof(this->transformed_last_milestone));
+ arm_solution->actuator_to_cartesian(actuator_pos, last_machine_position);
+ // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone
+ memcpy(last_milestone, last_machine_position, sizeof last_milestone);
// now reset actuator correctly, NOTE this may lose a little precision
- arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
- for (size_t i = 0; i < actuators.size(); i++)
- actuators[i]->change_last_milestone(actuator_pos[i]);
+ // NOTE I do not recall why this was necessary, maybe to correct for small errors in FK
+ // arm_solution->cartesian_to_actuator(last_machine_position, actuator_pos);
+ // for (size_t i = 0; i < actuators.size(); i++)
+ // actuators[i]->change_last_milestone(actuator_pos[i]);
}
-// Convert target from millimeters to steps, and append this to the planner
-void Robot::append_milestone(Gcode * gcode, float target[], float rate_mm_s)
+// Convert target (in machine coordinates) from millimeters to steps, and append this to the planner
+// target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
+// all transforms and is what we actually convert to actuator positions
+bool Robot::append_milestone(Gcode * gcode, const float target[], float rate_mm_s)
{
float deltas[3];
float unit_vec[3];
compensationTransform(transformed_target);
}
- // apply wcs offsets and g92 offset
- transformed_target[0] += (std::get<0>(wcs_offsets[current_wcs]) + std::get<0>(g92_offset));
- transformed_target[1] += (std::get<1>(wcs_offsets[current_wcs]) + std::get<1>(g92_offset));
- transformed_target[2] += (std::get<2>(wcs_offsets[current_wcs]) + std::get<2>(g92_offset));
-
- // find distance moved by each axis, use transformed target from last_transformed_target
+ // find distance moved by each axis, use transformed target from the current machine position
for (int axis = X_AXIS; axis <= Z_AXIS; axis++) {
- deltas[axis] = transformed_target[axis] - transformed_last_milestone[axis];
+ deltas[axis] = transformed_target[axis] - last_machine_position[axis];
}
- // store last transformed
- memcpy(this->transformed_last_milestone, transformed_target, sizeof(this->transformed_last_milestone));
// Compute how long this move moves, so we can attach it to the block for later use
millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) );
+ // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
+ // 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
+ if(millimeters_of_travel < 0.00001F) return false;
+
+ // this is the machine position
+ memcpy(this->last_machine_position, transformed_target, sizeof(this->last_machine_position));
+
// find distance unit vector
for (int i = 0; i < 3; i++)
unit_vec[i] = deltas[i] / millimeters_of_travel;
}
}
- // find actuator position given cartesian position, use actual adjusted target
- arm_solution->cartesian_to_actuator( transformed_target, actuator_pos );
+ // find actuator position given the machine position, use actual adjusted target
+ arm_solution->cartesian_to_actuator( this->last_machine_position, actuator_pos );
float isecs = rate_mm_s / millimeters_of_travel;
// check per-actuator speed limits
// Append the block to the planner
THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec );
- // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one
- memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[];
-
+ return true;
}
// Append a move to the queue ( cutting it into segments if needed )
-void Robot::append_line(Gcode * gcode, float target[], float rate_mm_s )
+bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s )
{
- // Find out the distance for this gcode
+ // Find out the distance for this move in MCS
// 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
- gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - this->last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - this->last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - this->last_milestone[Z_AXIS], 2 ));
+ 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 ));
// We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves )
- if( gcode->millimeters_of_travel < 0.00001F ) {
- return;
- }
+ if( gcode->millimeters_of_travel < 0.00001F ) return false;
// Mark the gcode as having a known distance
this->distance_in_gcode_is_known( gcode );
}
}
- // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes.
- // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste.
+ // 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.
// In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
// 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
uint16_t segments;
}
}
+ bool moved= false;
if (segments > 1) {
// A vector to keep track of the endpoint of each segment
float segment_delta[3];
- float segment_end[3];
+ float segment_end[3]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]};
// How far do we move each segment?
for (int i = X_AXIS; i <= Z_AXIS; i++)
// segment 0 is already done - it's the end point of the previous move so we start at segment 1
// We always add another point after this loop so we stop at segments-1, ie i < segments
for (int i = 1; i < segments; i++) {
- if(THEKERNEL->is_halted()) return; // don't queue any more segments
+ if(THEKERNEL->is_halted()) return false; // don't queue any more segments
for(int axis = X_AXIS; axis <= Z_AXIS; axis++ )
- segment_end[axis] = last_milestone[axis] + segment_delta[axis];
+ segment_end[axis] += segment_delta[axis];
// Append the end of this segment to the queue
- this->append_milestone(gcode, segment_end, rate_mm_s);
+ bool b= this->append_milestone(gcode, segment_end, rate_mm_s);
+ moved= moved || b;
}
}
// Append the end of this full move to the queue
- this->append_milestone(gcode, target, rate_mm_s);
+ if(this->append_milestone(gcode, target, rate_mm_s)) moved= true;
- // if adding these blocks didn't start executing, do that now
- THEKERNEL->conveyor->ensure_running();
+ this->next_command_is_MCS = false; // always reset this
+
+ if(moved) {
+ // if adding these blocks didn't start executing, do that now
+ THEKERNEL->conveyor->ensure_running();
+ }
+
+ return moved;
}
// Append an arc to the queue ( cutting it into segments as needed )
-void Robot::append_arc(Gcode * gcode, float target[], float offset[], float radius, bool is_clockwise )
+bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise )
{
// Scary math
// We don't care about non-XYZ moves ( for example the extruder produces some of those )
if( gcode->millimeters_of_travel < 0.00001F ) {
- return;
+ return false;
}
// Mark the gcode as having a known distance
// Initialize the linear axis
arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2];
+ bool moved= false;
for (i = 1; i < segments; i++) { // Increment (segments-1)
- if(THEKERNEL->is_halted()) return; // don't queue any more segments
+ if(THEKERNEL->is_halted()) return false; // don't queue any more segments
if (count < this->arc_correction ) {
// Apply vector rotation matrix
arc_target[this->plane_axis_2] += linear_per_segment;
// Append this segment to the queue
- this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute);
-
+ bool b= this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute);
+ moved= moved || b;
}
// Ensure last segment arrives at target location.
- this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute);
+ if(this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute)) moved= true;
+
+ return moved;
}
// Do the math for an arc and add it to the queue
-void Robot::compute_arc(Gcode * gcode, float offset[], float target[])
+bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[])
{
// Find the radius
}
// Append arc
- this->append_arc(gcode, target, offset, radius, is_clockwise );
-
+ return this->append_arc(gcode, target, offset, radius, is_clockwise );
}
void Robot::clearToolOffset()
{
- memset(this->toolOffset, 0, sizeof(this->toolOffset));
+ this->tool_offset= wcs_t(0,0,0);
}
void Robot::setToolOffset(const float offset[3])
{
- memcpy(this->toolOffset, offset, sizeof(this->toolOffset));
+ this->tool_offset= wcs_t(offset[0], offset[1], offset[2]);
}
HCoop / clinton / Smoothieware.git / blobdiff