#include <fastmath.h>
#include <string>
#include <algorithm>
-using std::string;
#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
// default s value for laser
this->s_value = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(0.8F)->as_number();
- // Make our Primary XYZ StepperMotors
+ // Make our Primary XYZ StepperMotors, and potentially A B C
uint16_t const checksums[][6] = {
ACTUATOR_CHECKSUMS("alpha"), // X
ACTUATOR_CHECKSUMS("beta"), // Y
ACTUATOR_CHECKSUMS("gamma"), // Z
+ #if MAX_ROBOT_ACTUATORS > 3
+ ACTUATOR_CHECKSUMS("delta"), // A
+ #if MAX_ROBOT_ACTUATORS > 4
+ ACTUATOR_CHECKSUMS("epsilon"), // B
+ #if MAX_ROBOT_ACTUATORS > 5
+ ACTUATOR_CHECKSUMS("zeta") // C
+ #endif
+ #endif
+ #endif
};
// default acceleration setting, can be overriden with newer per axis settings
this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2
// make each motor
- for (size_t a = X_AXIS; a <= Z_AXIS; a++) {
+ for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) {
Pin pins[3]; //step, dir, enable
for (size_t i = 0; i < 3; i++) {
pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output();
}
+
+ if(!pins[0].connected() || !pins[1].connected()) { // step and dir must be defined, but enable is optional
+ if(a <= Z_AXIS) {
+ THEKERNEL->streams->printf("FATAL: motor %c is not defined in config\n", 'X'+a);
+ n_motors= a; // we only have this number of motors
+ return;
+ }
+ break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order)
+ }
+
StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]);
// register this motor (NB This must be 0,1,2) of the actuators array
uint8_t n= register_motor(sm);
if(n != a) {
// this is a fatal error
THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a);
- __debugbreak();
+ return;
}
actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number());
__debugbreak();
}
actuators.push_back(motor);
+ motor->set_motor_id(n_motors);
return n_motors++;
}
n = snprintf(buf, bufsize, "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
}
}
+
+ #if MAX_ROBOT_ACTUATORS > 3
+ // deal with the ABC axis
+ for (int i = A_AXIS; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; // don't show an extruder as that will be E
+ if(subcode == 4) { // M114.4 print last milestone
+ n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, machine_position[i]);
+
+ }else if(subcode == 2 || subcode == 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC
+ // current actuator position
+ n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, actuators[i]->get_current_position());
+ }
+ }
+ #endif
+
return n;
}
void Robot::check_max_actuator_speeds()
{
for (size_t i = 0; i < n_motors; i++) {
+ if(actuators[i]->is_extruder()) continue; //extruders are not included in this check
+
float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm();
if (step_freq > THEKERNEL->base_stepping_frequency) {
actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm()));
case 1: motion_mode = LINEAR; break;
case 2: motion_mode = CW_ARC; break;
case 3: motion_mode = CCW_ARC; break;
- case 4: { // G4 pause
+ case 4: { // G4 Dwell
uint32_t delay_ms = 0;
if (gcode->has_letter('P')) {
- delay_ms = gcode->get_int('P');
+ if(THEKERNEL->is_grbl_mode()) {
+ // in grbl mode (and linuxcnc) P is decimal seconds
+ float f= gcode->get_value('P');
+ delay_ms= f * 1000.0F;
+
+ }else{
+ // in reprap P is milliseconds, they always have to be different!
+ delay_ms = gcode->get_int('P');
+ }
}
if (gcode->has_letter('S')) {
delay_ms += gcode->get_int('S') * 1000;
}
} 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'));
+ if(absolute_mode) {
+ // 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'));
+ }else{
+ 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);
}
if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){
// reset the E position, legacy for 3d Printers to be reprap compatible
// find the selected extruder
- // NOTE this will only work when E is 0 if volumetric and/or scaling is used as the actuator last milestone will be different if it was scaled
- for (int i = E_AXIS; i < n_motors; ++i) {
- if(actuators[i]->is_selected()) {
- float e= gcode->has_letter('E') ? gcode->get_value('E') : 0;
- machine_position[i]= compensated_machine_position[i]= e;
- actuators[i]->change_last_milestone(e);
- break;
- }
+ int selected_extruder= get_active_extruder();
+ if(selected_extruder > 0) {
+ float e= gcode->has_letter('E') ? gcode->get_value('E') : 0;
+ machine_position[selected_extruder]= compensated_machine_position[selected_extruder]= e;
+ actuators[selected_extruder]->change_last_milestone(get_e_scale_fnc ? e*get_e_scale_fnc() : e);
}
}
#endif
THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on
break;
- case 18: // this used to support parameters, now it ignores them
+ case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
+ if(gcode->get_num_args() > 0) {
+ // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
+ uint32_t bm= 0;
+ for (int i = 0; i < n_motors; ++i) {
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-3));
+ if(gcode->has_letter(axis)) bm |= (0x02<<i); // set appropriate bit
+ }
+ // handle E parameter as currently selected extruder ABC
+ if(gcode->has_letter('E')) {
+ // find first selected extruder
+ int i= get_active_extruder();
+ if(i > 0) {
+ bm |= (0x02<<i); // set appropriate bit
+ }
+ }
+
+ THEKERNEL->conveyor->wait_for_idle();
+ THEKERNEL->call_event(ON_ENABLE, (void *)bm);
+ break;
+ }
+ // fall through
case 84:
THEKERNEL->conveyor->wait_for_idle();
THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off
case 83: e_absolute_mode= false; break;
case 92: // M92 - set steps per mm
- if (gcode->has_letter('X'))
- actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X')));
- if (gcode->has_letter('Y'))
- actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y')));
- if (gcode->has_letter('Z'))
- actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z')));
-
- gcode->stream->printf("X:%f Y:%f Z:%f ", actuators[0]->get_steps_per_mm(), actuators[1]->get_steps_per_mm(), actuators[2]->get_steps_per_mm());
+ for (int i = 0; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; //extruders handle this themselves
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS));
+ if(gcode->has_letter(axis)) {
+ actuators[i]->change_steps_per_mm(this->to_millimeters(gcode->get_value(axis)));
+ }
+ gcode->stream->printf("%c:%f ", axis, actuators[i]->get_steps_per_mm());
+ }
gcode->add_nl = true;
check_max_actuator_speeds();
return;
case 114:{
- char buf[64];
+ char buf[128];
int n= print_position(gcode->subcode, buf, sizeof buf);
if(n > 0) gcode->txt_after_ok.append(buf, n);
return;
for (size_t i = X_AXIS; i <= Z_AXIS; i++) {
gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate());
}
+ if(gcode->subcode == 1) {
+ for (size_t i = A_AXIS; i < n_motors; i++) {
+ if(actuators[i]->is_extruder()) continue; //extruders handle this themselves
+ gcode->stream->printf(" %c: %g ", 'A' + i - A_AXIS, actuators[i]->get_max_rate());
+ }
+ }
+
gcode->add_nl = true;
}else{
}
}
+ if(gcode->subcode == 1) {
+ // ABC axis only handle actuator max speeds
+ for (size_t i = A_AXIS; i < n_motors; i++) {
+ if(actuators[i]->is_extruder()) continue; //extruders handle this themselves
+ int c= 'A' + i - A_AXIS;
+ if(gcode->has_letter(c)) {
+ float v= gcode->get_value(c);
+ actuators[i]->set_max_rate(v);
+ }
+ }
+ }
+
+
// this format is deprecated
if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) {
gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n");
if (acc < 1.0F) acc = 1.0F;
this->default_acceleration = acc;
}
- for (int i = X_AXIS; i <= Z_AXIS; ++i) {
- if (gcode->has_letter(i+'X')) {
- float acc = gcode->get_value(i+'X'); // mm/s^2
+ for (int i = 0; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; //extruders handle this themselves
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS));
+ if(gcode->has_letter(axis)) {
+ float acc = gcode->get_value(axis); // mm/s^2
// enforce positive
if (acc <= 0.0F) acc = NAN;
actuators[i]->set_acceleration(acc);
case 500: // M500 saves some volatile settings to config override file
case 503: { // M503 just prints the settings
- gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->get_steps_per_mm(), actuators[1]->get_steps_per_mm(), actuators[2]->get_steps_per_mm());
+ gcode->stream->printf(";Steps per unit:\nM92 ");
+ for (int i = 0; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; //extruders handle this themselves
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS));
+ gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_steps_per_mm());
+ }
+ gcode->stream->printf("\n");
- // only print XYZ if not NAN
+ // only print if not NAN
gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration);
- for (int i = X_AXIS; i <= Z_AXIS; ++i) {
- if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", 'X'+i, actuators[i]->get_acceleration());
+ for (int i = 0; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; // extruders handle this themselves
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS));
+ if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_acceleration());
}
gcode->stream->printf("\n");
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, isnan(THEKERNEL->planner->z_junction_deviation)?-1:THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed);
gcode->stream->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f\n", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]);
- gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 X%1.5f Y%1.5f Z%1.5f\n", actuators[X_AXIS]->get_max_rate(), actuators[Y_AXIS]->get_max_rate(), actuators[Z_AXIS]->get_max_rate());
+
+ gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 ");
+ for (int i = 0; i < n_motors; ++i) {
+ if(actuators[i]->is_extruder()) continue; // extruders handle this themselves
+ char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS));
+ gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_max_rate());
+ }
+ gcode->stream->printf("\n");
// get or save any arm solution specific optional values
BaseSolution::arm_options_t options;
next_command_is_MCS = false; // must be on same line as G0 or G1
}
+int Robot::get_active_extruder() const
+{
+ for (int i = E_AXIS; i < n_motors; ++i) {
+ // find first selected extruder
+ if(actuators[i]->is_extruder() && actuators[i]->is_selected()) return i;
+ }
+ return 0;
+}
+
// process a G0/G1/G2/G3
void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode)
{
}
}
+ float delta_e= NAN;
+
+ #if MAX_ROBOT_ACTUATORS > 3
// process extruder parameters, for active extruder only (only one active extruder at a time)
- selected_extruder= 0;
+ int selected_extruder= 0;
if(gcode->has_letter('E')) {
- for (int i = E_AXIS; i < n_motors; ++i) {
- // find first selected extruder
- if(actuators[i]->is_selected()) {
- param[E_AXIS]= gcode->get_value('E');
- selected_extruder= i;
- break;
- }
- }
+ selected_extruder= get_active_extruder();
+ param[E_AXIS]= gcode->get_value('E');
}
// do E for the selected extruder
- float delta_e= NAN;
if(selected_extruder > 0 && !isnan(param[E_AXIS])) {
if(this->e_absolute_mode) {
target[selected_extruder]= param[E_AXIS];
}
}
+ // process ABC axis, this is mutually exclusive to using E for an extruder, so if E is used and A then the results are undefined
+ for (int i = A_AXIS; i < n_motors; ++i) {
+ char letter= 'A'+i-A_AXIS;
+ if(gcode->has_letter(letter)) {
+ float p= gcode->get_value(letter);
+ if(this->absolute_mode) {
+ target[i]= p;
+ }else{
+ target[i]= p + machine_position[i];
+ }
+ }
+ }
+ #endif
+
if( gcode->has_letter('F') ) {
if( motion_mode == SEEK )
this->seek_rate = this->to_millimeters( gcode->get_value('F') );
}
// Use FK to find out where actuator is and reset to match
+// TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
void Robot::reset_position_from_current_actuator_position()
{
ActuatorCoordinates actuator_pos;
- for (size_t i = X_AXIS; i <= Z_AXIS; i++) {
+ for (size_t i = X_AXIS; i < n_motors; i++) {
// NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
actuator_pos[i] = actuators[i]->get_current_position();
}
// NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
// to get everything in perfect sync.
arm_solution->cartesian_to_actuator(compensated_machine_position, actuator_pos);
- for (size_t i = X_AXIS; i <= Z_AXIS; i++)
+ for (size_t i = X_AXIS; i <= Z_AXIS; i++) {
actuators[i]->change_last_milestone(actuator_pos[i]);
+ }
+
+ // Handle extruders and/or ABC axis
+ #if MAX_ROBOT_ACTUATORS > 3
+ for (int i = A_AXIS; i < n_motors; i++) {
+ // ABC and/or extruders just need to set machine_position and compensated_machine_position
+ float ap= actuator_pos[i];
+ if(actuators[i]->is_extruder() && get_e_scale_fnc) ap /= get_e_scale_fnc(); // inverse E scale if there is one and this is an extruder
+ machine_position[i]= compensated_machine_position[i]= ap;
+ actuators[i]->change_last_milestone(actuator_pos[i]); // this updates the last_milestone in the actuator
+ }
+ #endif
}
// Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
}
bool move= false;
- float sos= 0; // sum of squares for just XYZ
+ float sos= 0; // sum of squares for just primary axis (XYZ usually)
// find distance moved by each axis, use transformed target from the current compensated machine position
for (size_t i = 0; i < n_motors; i++) {
if(deltas[i] == 0) continue;
// at least one non zero delta
move = true;
- if(i <= Z_AXIS) {
+ if(i < N_PRIMARY_AXIS) {
sos += powf(deltas[i], 2);
}
}
if(!move) return false;
// see if this is a primary axis move or not
- bool auxilliary_move= deltas[X_AXIS] == 0 && deltas[Y_AXIS] == 0 && deltas[Z_AXIS] == 0;
+ bool auxilliary_move= true;
+ for (int i = 0; i < N_PRIMARY_AXIS; ++i) {
+ if(deltas[i] != 0) {
+ auxilliary_move= false;
+ break;
+ }
+ }
// total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
float distance= auxilliary_move ? 0 : sqrtf(sos);
if(!auxilliary_move) {
- for (size_t i = X_AXIS; i <= Z_AXIS; i++) {
+ for (size_t i = X_AXIS; i < N_PRIMARY_AXIS; i++) {
// find distance unit vector for primary axis only
unit_vec[i] = deltas[i] / distance;
// for the extruders just copy the position, and possibly scale it from mm³ to mm
for (size_t i = E_AXIS; i < n_motors; i++) {
actuator_pos[i]= transformed_target[i];
- if(get_e_scale_fnc) {
+ if(actuators[i]->is_extruder() && get_e_scale_fnc) {
// NOTE this relies on the fact only one extruder is active at a time
// scale for volumetric or flow rate
// TODO is this correct? scaling the absolute target? what if the scale changes?
}
if(auxilliary_move) {
// for E only moves we need to use the scaled E to calculate the distance
- sos += pow(actuator_pos[i] - actuators[i]->get_last_milestone(), 2);
+ sos += powf(actuator_pos[i] - actuators[i]->get_last_milestone(), 2);
}
}
if(auxilliary_move) {
// adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
// TODO we may need to do all of them, check E won't limit XYZ.. it does on long E moves, but not checking it could exceed the E acceleration.
- if(auxilliary_move || actuator <= Z_AXIS) {
+ if(auxilliary_move || actuator < N_PRIMARY_AXIS) {
float ma = actuators[actuator]->get_acceleration(); // in mm/sec²
if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration
float ca = fabsf((d/distance) * acceleration);
float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
+ // TODO we need to handle the ABC axis here by segmenting them
float arc_target[3];
float sin_Ti;
float cos_Ti;
HCoop / clinton / Smoothieware.git / blobdiff