-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef ROBOT_H
-#define ROBOT_H
-
-#include <string>
-using std::string;
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "../communication/utils/Gcode.h"
-#include "arm_solutions/BaseSolution.h"
-#include "Planner.h"
-#include "libs/Pin.h"
-#include "libs/StepperMotor.h"
-
-
-#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
-#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
-#define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
-#define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
-#define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
-#define arc_correction_checksum CHECKSUM("arc_correction")
-#define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
-#define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
-#define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
-#define arm_solution_checksum CHECKSUM("arm_solution")
-#define cartesian_checksum CHECKSUM("cartesian")
-#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
-#define rostock_checksum CHECKSUM("rostock")
-#define delta_checksum CHECKSUM("delta")
-#define hbot_checksum CHECKSUM("hbot")
-
-#define NEXT_ACTION_DEFAULT 0
-#define NEXT_ACTION_DWELL 1
-#define NEXT_ACTION_GO_HOME 2
-
-#define MOTION_MODE_SEEK 0 // G0
-#define MOTION_MODE_LINEAR 1 // G1
-#define MOTION_MODE_CW_ARC 2 // G2
-#define MOTION_MODE_CCW_ARC 3 // G3
-#define MOTION_MODE_CANCEL 4 // G80
-
-#define PATH_CONTROL_MODE_EXACT_PATH 0
-#define PATH_CONTROL_MODE_EXACT_STOP 1
-#define PATH_CONTROL_MODE_CONTINOUS 2
-
-#define PROGRAM_FLOW_RUNNING 0
-#define PROGRAM_FLOW_PAUSED 1
-#define PROGRAM_FLOW_COMPLETED 2
-
-#define SPINDLE_DIRECTION_CW 0
-#define SPINDLE_DIRECTION_CCW 1
-
-
-
-class Robot : public Module {
- public:
- Robot();
- void on_module_loaded();
- void on_config_reload(void* argument);
- void on_gcode_received(void* argument);
- void reset_axis_position(double position, int axis);
-
- private:
- void distance_in_gcode_is_known(Gcode* gcode);
- void append_milestone( double target[], double feed_rate);
- void append_line( Gcode* gcode, double target[], double feed_rate);
- //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
- void append_arc( Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise );
-
-
- void compute_arc(Gcode* gcode, double offset[], double target[]);
- double to_millimeters(double value);
- double from_millimeters(double value);
- double theta(double x, double y);
- void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
-
- double current_position[3]; // Current position, in millimeters
- double last_milestone[3]; // Last position, in millimeters
- bool inch_mode; // true for inch mode, false for millimeter mode ( default )
- bool absolute_mode; // true for absolute mode ( default ), false for relative mode
- int8_t motion_mode; // Motion mode for the current received Gcode
- double seek_rate; // Current rate for seeking moves ( mm/s )
- double feed_rate; // Current rate for feeding moves ( mm/s )
- uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ )
- BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
- double mm_per_line_segment; // Setting : Used to split lines into segments
- double mm_per_arc_segment; // Setting : Used to split arcs into segmentrs
- double delta_segments_per_second; // Setting : Used to split lines into segments for delta based on speed
-
- // Number of arc generation iterations by small angle approximation before exact arc trajectory
- // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
- // generations. In general, the default value is more than enough for the intended CNC applications
- // of grbl, and should be on the order or greater than the size of the buffer to help with the
- // computational efficiency of generating arcs.
- int arc_correction; // Setting : how often to rectify arc computation
- double max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
-
- // Used by Stepper
- public:
- Pin alpha_step_pin;
- Pin alpha_dir_pin;
- Pin alpha_en_pin;
- Pin beta_step_pin;
- Pin beta_dir_pin;
- Pin beta_en_pin;
- Pin gamma_step_pin;
- Pin gamma_dir_pin;
- Pin gamma_en_pin;
-
- StepperMotor* alpha_stepper_motor;
- StepperMotor* beta_stepper_motor;
- StepperMotor* gamma_stepper_motor;
-
- double seconds_per_minute; // for realtime speed change
-};
-
-#endif
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include <string>
+using std::string;
+#include <string.h>
+#include <functional>
+#include <stack>
+
+#include "libs/Module.h"
+#include "ActuatorCoordinates.h"
+
+class Gcode;
+class BaseSolution;
+class StepperMotor;
+
+class Robot : public Module {
+ public:
+ Robot();
+ void on_module_loaded();
+ void on_gcode_received(void* argument);
+
+ void reset_axis_position(float position, int axis);
+ void reset_axis_position(float x, float y, float z);
+ void reset_position_from_current_actuator_position();
+ float get_seconds_per_minute() const { return seconds_per_minute; }
+ float get_z_maxfeedrate() const { return this->max_speeds[2]; }
+ void setToolOffset(const float offset[3]);
+ float get_feed_rate() const { return feed_rate; }
+ void push_state();
+ void pop_state();
+ void check_max_actuator_speeds();
+ float to_millimeters( float value ) const { return this->inch_mode ? value * 25.4F : value; }
+ float from_millimeters( float value) const { return this->inch_mode ? value/25.4F : value; }
+ void get_axis_position(float position[]) const { memcpy(position, this->last_milestone, sizeof this->last_milestone); }
+
+ BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
+
+ // gets accessed by Panel, Endstops, ZProbe
+ std::array<StepperMotor*, k_max_actuators> actuators;
+
+ // set by a leveling strategy to transform the target of a move according to the current plan
+ std::function<void(float[3])> compensationTransform;
+
+ struct {
+ bool inch_mode:1; // true for inch mode, false for millimeter mode ( default )
+ bool absolute_mode:1; // true for absolute mode ( default ), false for relative mode
+ bool next_command_is_MCS:1; // set by G53
+ };
+
+ private:
+ void load_config();
+ void distance_in_gcode_is_known(Gcode* gcode);
+ bool append_milestone( Gcode *gcode, const float target[], float rate_mm_s);
+ bool append_line( Gcode* gcode, const float target[], float rate_mm_s);
+ bool append_arc( Gcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise );
+ bool compute_arc(Gcode* gcode, const float offset[], const float target[]);
+ void process_move(Gcode *gcode);
+
+ float theta(float x, float y);
+ void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
+ void clearToolOffset();
+ void print_position(Gcode *gcode) const;
+
+ // Workspace coordinate systems
+ using wcs_t= std::tuple<float, float, float>;
+ wcs_t mcs2wcs(const float *pos) const;
+
+ static const size_t k_max_wcs= 9; // setup 9 WCS offsets
+ std::array<wcs_t, k_max_wcs> wcs_offsets; // these are persistent once set
+ uint8_t current_wcs{0}; // 0 means G54 in enabled this is persistent
+ wcs_t g92_offset;
+ wcs_t tool_offset; // used for multiple extruders, sets the tool offset for the current extruder applied first
+
+ using saved_state_t= std::tuple<float, float, bool, bool, uint8_t>; // save current feedrate and absolute mode, inch mode, current_wcs
+ std::stack<saved_state_t> state_stack; // saves state from M120
+
+ 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
+ float last_machine_position[3]; // Last machine position, which is the position before converting to actuator coordinates (includes compensation transform)
+ int8_t motion_mode; // Motion mode for the current received Gcode
+ uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ )
+ float seek_rate; // Current rate for seeking moves ( mm/s )
+ float feed_rate; // Current rate for feeding moves ( mm/s )
+ float mm_per_line_segment; // Setting : Used to split lines into segments
+ float mm_per_arc_segment; // Setting : Used to split arcs into segmentrs
+ float delta_segments_per_second; // Setting : Used to split lines into segments for delta based on speed
+ float seconds_per_minute; // for realtime speed change
+
+ // Number of arc generation iterations by small angle approximation before exact arc trajectory
+ // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
+ // generations. In general, the default value is more than enough for the intended CNC applications
+ // of grbl, and should be on the order or greater than the size of the buffer to help with the
+ // computational efficiency of generating arcs.
+ int arc_correction; // Setting : how often to rectify arc computation
+ float max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
+
+ // Used by Stepper, Planner
+ friend class Planner;
+ friend class Stepper;
+};
+
+
+#endif
HCoop / clinton / Smoothieware.git / blobdiff