[clinton/Smoothieware.git] / src / modules / robot / Robot.h

/*
      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 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 execute_gcode(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 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
Commit	Line	Data
df27a6a3	1	/*
4cff3ded AW	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.
df27a6a3	5	You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
4cff3ded AW	6	*/
	7
	8	#ifndef ROBOT_H
	9	#define ROBOT_H
	10
	11	#include <string>
	12	using std::string;
4cff3ded AW	13	#include "libs/Module.h"
	14	#include "libs/Kernel.h"
	15	#include "../communication/utils/Gcode.h"
	16	#include "arm_solutions/BaseSolution.h"
	17	#include "Planner.h"
feb204be AW	18	#include "libs/Pin.h"
	19	#include "libs/StepperMotor.h"
	20
4cff3ded	21
d4f93cf4 AG	22	#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
	23	#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
	24	#define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
09f5909f	25	#define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
d4f93cf4 AG	26	#define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
	27	#define arc_correction_checksum CHECKSUM("arc_correction")
	28	#define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
	29	#define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
	30	#define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
4e04bcd3 L	31	#define arm_solution_checksum CHECKSUM("arm_solution")
4e04bcd3 L	32	#define cartesian_checksum CHECKSUM("cartesian")
b73a756d	33	#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
4e04bcd3 L	34	#define rostock_checksum CHECKSUM("rostock")
4e04bcd3 L	35	#define delta_checksum CHECKSUM("delta")
4cff3ded AW	36
	37	#define NEXT_ACTION_DEFAULT 0
	38	#define NEXT_ACTION_DWELL 1
	39	#define NEXT_ACTION_GO_HOME 2
	40
	41	#define MOTION_MODE_SEEK 0 // G0
	42	#define MOTION_MODE_LINEAR 1 // G1
	43	#define MOTION_MODE_CW_ARC 2 // G2
	44	#define MOTION_MODE_CCW_ARC 3 // G3
	45	#define MOTION_MODE_CANCEL 4 // G80
	46
	47	#define PATH_CONTROL_MODE_EXACT_PATH 0
	48	#define PATH_CONTROL_MODE_EXACT_STOP 1
	49	#define PATH_CONTROL_MODE_CONTINOUS 2
	50
	51	#define PROGRAM_FLOW_RUNNING 0
	52	#define PROGRAM_FLOW_PAUSED 1
	53	#define PROGRAM_FLOW_COMPLETED 2
	54
	55	#define SPINDLE_DIRECTION_CW 0
	56	#define SPINDLE_DIRECTION_CCW 1
	57
	58
	59
	60	class Robot : public Module {
	61	public:
	62	Robot();
	63	void on_module_loaded();
da24d6ae	64	void on_config_reload(void* argument);
4cff3ded	65	void on_gcode_received(void* argument);
3ffe27fb	66	void reset_axis_position(double position, int axis);
a974cd04 BG	67
a974cd04 BG	68	private:
4cff3ded AW	69	void execute_gcode(Gcode* gcode);
4cff3ded AW	70	void append_milestone( double target[], double feed_rate);
436a2cd1	71	void append_line( Gcode* gcode, double target[], double feed_rate);
aab6cbba	72	//void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
436a2cd1	73	void append_arc( Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise );
aab6cbba AW	74
aab6cbba AW	75
436a2cd1	76	void compute_arc(Gcode* gcode, double offset[], double target[]);
4cff3ded AW	77	double to_millimeters(double value);
	78	double theta(double x, double y);
	79	void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
	80
	81	double current_position[3]; // Current position, in millimeters
	82	double last_milestone[3]; // Last position, in millimeters
	83	bool inch_mode; // true for inch mode, false for millimeter mode ( default )
	84	bool absolute_mode; // true for absolute mode ( default ), false for relative mode
c83887ea	85	int8_t motion_mode; // Motion mode for the current received Gcode
4cff3ded AW	86	double seek_rate; // Current rate for seeking moves ( mm/s )
	87	double feed_rate; // Current rate for feeding moves ( mm/s )
	88	uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ )
	89	BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
7b49793d MM	90	double mm_per_line_segment; // Setting : Used to split lines into segments
7b49793d MM	91	double mm_per_arc_segment; // Setting : Used to split arcs into segmentrs
4a0c8e14	92	double delta_segments_per_second; // Setting : Used to split lines into segments for delta based on speed
7369629d	93
b66fb830 AW	94	// Number of arc generation iterations by small angle approximation before exact arc trajectory
	95	// correction. This parameter maybe decreased if there are issues with the accuracy of the arc
	96	// generations. In general, the default value is more than enough for the intended CNC applications
	97	// of grbl, and should be on the order or greater than the size of the buffer to help with the
	98	// computational efficiency of generating arcs.
	99	int arc_correction; // Setting : how often to rectify arc computation
7b470506	100	double max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
b66fb830	101
a974cd04 BG	102	// Used by Stepper
a974cd04 BG	103	public:
e4fe5194 MM	104	Pin alpha_step_pin;
	105	Pin alpha_dir_pin;
	106	Pin alpha_en_pin;
	107	Pin beta_step_pin;
	108	Pin beta_dir_pin;
	109	Pin beta_en_pin;
	110	Pin gamma_step_pin;
	111	Pin gamma_dir_pin;
	112	Pin gamma_en_pin;
7369629d	113
feb204be AW	114	StepperMotor* alpha_stepper_motor;
	115	StepperMotor* beta_stepper_motor;
	116	StepperMotor* gamma_stepper_motor;
	117
7369629d	118	double seconds_per_minute; // for realtime speed change
4cff3ded AW	119	};
	120
	121	#endif