Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
aab6cbba | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
4cff3ded AW |
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 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
5673fe39 | 10 | |
c3df978d JM |
11 | #include "mbed.h" // for us_ticker_read() |
12 | ||
5673fe39 | 13 | #include <math.h> |
4cff3ded AW |
14 | #include <string> |
15 | using std::string; | |
5673fe39 | 16 | |
4cff3ded | 17 | #include "Planner.h" |
3fceb8eb | 18 | #include "Conveyor.h" |
4cff3ded | 19 | #include "Robot.h" |
5673fe39 MM |
20 | #include "nuts_bolts.h" |
21 | #include "Pin.h" | |
22 | #include "StepperMotor.h" | |
23 | #include "Gcode.h" | |
5647f709 | 24 | #include "PublicDataRequest.h" |
928467c0 | 25 | #include "PublicData.h" |
66383b80 | 26 | #include "RobotPublicAccess.h" |
4cff3ded AW |
27 | #include "arm_solutions/BaseSolution.h" |
28 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 29 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 30 | #include "arm_solutions/LinearDeltaSolution.h" |
c52b8675 | 31 | #include "arm_solutions/RotatableDeltaSolution.h" |
bdaaa75d | 32 | #include "arm_solutions/HBotSolution.h" |
1217e470 | 33 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 34 | #include "StepTicker.h" |
7af0714f JM |
35 | #include "checksumm.h" |
36 | #include "utils.h" | |
8d54c34c | 37 | #include "ConfigValue.h" |
5966b7d0 | 38 | #include "libs/StreamOutput.h" |
dd0a7cfa | 39 | #include "StreamOutputPool.h" |
928467c0 | 40 | #include "ExtruderPublicAccess.h" |
38bf9a1c | 41 | |
78d0e16a MM |
42 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
43 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
44 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
45 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
46 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
47 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
48 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
49 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
50 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
51 | |
52 | // arm solutions | |
78d0e16a MM |
53 | #define arm_solution_checksum CHECKSUM("arm_solution") |
54 | #define cartesian_checksum CHECKSUM("cartesian") | |
55 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
56 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 57 | #define linear_delta_checksum CHECKSUM("linear_delta") |
c52b8675 | 58 | #define rotatable_delta_checksum CHECKSUM("rotatable_delta") |
78d0e16a MM |
59 | #define delta_checksum CHECKSUM("delta") |
60 | #define hbot_checksum CHECKSUM("hbot") | |
61 | #define corexy_checksum CHECKSUM("corexy") | |
62 | #define kossel_checksum CHECKSUM("kossel") | |
1217e470 | 63 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a MM |
64 | |
65 | // stepper motor stuff | |
66 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
67 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
68 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
69 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
70 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
71 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
72 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
73 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
74 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 75 | |
78d0e16a MM |
76 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
77 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
78 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
79 | ||
df6a30f2 MM |
80 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
81 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
82 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
83 | ||
84 | ||
78d0e16a MM |
85 | // new-style actuator stuff |
86 | #define actuator_checksum CHEKCSUM("actuator") | |
87 | ||
88 | #define step_pin_checksum CHECKSUM("step_pin") | |
89 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
90 | #define en_pin_checksum CHECKSUM("en_pin") | |
91 | ||
92 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 93 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
94 | |
95 | #define alpha_checksum CHECKSUM("alpha") | |
96 | #define beta_checksum CHECKSUM("beta") | |
97 | #define gamma_checksum CHECKSUM("gamma") | |
98 | ||
38bf9a1c JM |
99 | #define NEXT_ACTION_DEFAULT 0 |
100 | #define NEXT_ACTION_DWELL 1 | |
101 | #define NEXT_ACTION_GO_HOME 2 | |
102 | ||
103 | #define MOTION_MODE_SEEK 0 // G0 | |
104 | #define MOTION_MODE_LINEAR 1 // G1 | |
105 | #define MOTION_MODE_CW_ARC 2 // G2 | |
106 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
107 | #define MOTION_MODE_CANCEL 4 // G80 | |
108 | ||
109 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
110 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
111 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
112 | ||
113 | #define PROGRAM_FLOW_RUNNING 0 | |
114 | #define PROGRAM_FLOW_PAUSED 1 | |
115 | #define PROGRAM_FLOW_COMPLETED 2 | |
116 | ||
117 | #define SPINDLE_DIRECTION_CW 0 | |
118 | #define SPINDLE_DIRECTION_CCW 1 | |
119 | ||
5fa0c173 PA |
120 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians) |
121 | ||
edac9072 AW |
122 | // The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue |
123 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
124 | ||
4710532a JM |
125 | Robot::Robot() |
126 | { | |
a1b7e9f0 | 127 | this->inch_mode = false; |
0e8b102e | 128 | this->absolute_mode = true; |
df27a6a3 | 129 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 130 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 131 | clear_vector(this->last_milestone); |
3632a517 | 132 | clear_vector(this->transformed_last_milestone); |
0b804a41 | 133 | this->arm_solution = NULL; |
da947c62 | 134 | seconds_per_minute = 60.0F; |
fae93525 | 135 | this->clearToolOffset(); |
3632a517 | 136 | this->compensationTransform= nullptr; |
728477c4 | 137 | this->halted= false; |
4cff3ded AW |
138 | } |
139 | ||
140 | //Called when the module has just been loaded | |
4710532a JM |
141 | void Robot::on_module_loaded() |
142 | { | |
4cff3ded | 143 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
144 | this->register_for_event(ON_GET_PUBLIC_DATA); |
145 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
728477c4 | 146 | this->register_for_event(ON_HALT); |
4cff3ded AW |
147 | |
148 | // Configuration | |
da24d6ae AW |
149 | this->on_config_reload(this); |
150 | } | |
151 | ||
4710532a JM |
152 | void Robot::on_config_reload(void *argument) |
153 | { | |
5984acdf | 154 | |
edac9072 AW |
155 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
156 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
157 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 158 | // Here we read the config to find out which arm solution to use |
0b804a41 | 159 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 160 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 161 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 162 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 163 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 164 | |
2a06c415 JM |
165 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
166 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 167 | |
4710532a | 168 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 169 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 170 | |
c52b8675 DP |
171 | } else if(solution_checksum == rotatable_delta_checksum) { |
172 | this->arm_solution = new RotatableDeltaSolution(THEKERNEL->config); | |
173 | ||
174 | ||
1217e470 QH |
175 | } else if(solution_checksum == morgan_checksum) { |
176 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
177 | ||
4710532a | 178 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 179 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 180 | |
4710532a | 181 | } else { |
314ab8f7 | 182 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 183 | } |
73a4e3c0 | 184 | |
0b804a41 | 185 | |
6b661ab3 DP |
186 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
187 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
188 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
189 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
190 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); | |
191 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 192 | |
6b661ab3 DP |
193 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
194 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
195 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 196 | |
78d0e16a MM |
197 | Pin alpha_step_pin; |
198 | Pin alpha_dir_pin; | |
199 | Pin alpha_en_pin; | |
200 | Pin beta_step_pin; | |
201 | Pin beta_dir_pin; | |
202 | Pin beta_en_pin; | |
203 | Pin gamma_step_pin; | |
204 | Pin gamma_dir_pin; | |
205 | Pin gamma_en_pin; | |
206 | ||
eda9facc DP |
207 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); |
208 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
209 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
210 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
211 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); | |
212 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
213 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); | |
214 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
215 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 216 | |
a84f0186 | 217 | float steps_per_mm[3] = { |
eda9facc DP |
218 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), |
219 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
220 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
a84f0186 MM |
221 | }; |
222 | ||
78d0e16a MM |
223 | // TODO: delete or detect old steppermotors |
224 | // Make our 3 StepperMotors | |
c9cc5e06 JM |
225 | this->alpha_stepper_motor = new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin); |
226 | this->beta_stepper_motor = new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ); | |
227 | this->gamma_stepper_motor = new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin); | |
78d0e16a | 228 | |
a84f0186 MM |
229 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
230 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
231 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
232 | ||
eda9facc DP |
233 | alpha_stepper_motor->set_max_rate(THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F); |
234 | beta_stepper_motor->set_max_rate(THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F); | |
235 | gamma_stepper_motor->set_max_rate(THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F); | |
dd0a7cfa | 236 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 237 | |
78d0e16a MM |
238 | actuators.clear(); |
239 | actuators.push_back(alpha_stepper_motor); | |
240 | actuators.push_back(beta_stepper_motor); | |
241 | actuators.push_back(gamma_stepper_motor); | |
975469ad | 242 | |
dd0a7cfa | 243 | |
975469ad MM |
244 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
245 | // so the first move can be correct if homing is not performed | |
246 | float actuator_pos[3]; | |
247 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
248 | for (int i = 0; i < 3; i++) | |
249 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
5966b7d0 AT |
250 | |
251 | //this->clearToolOffset(); | |
4cff3ded AW |
252 | } |
253 | ||
dd0a7cfa JM |
254 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
255 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
256 | void Robot::check_max_actuator_speeds() | |
257 | { | |
3494f3d0 | 258 | float step_freq= alpha_stepper_motor->get_max_rate() * alpha_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 259 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 260 | alpha_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / alpha_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
261 | THEKERNEL->streams->printf("WARNING: alpha_max_rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", step_freq, alpha_stepper_motor->max_rate); |
262 | } | |
263 | ||
3494f3d0 | 264 | step_freq= beta_stepper_motor->get_max_rate() * beta_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 265 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 266 | beta_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / beta_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
267 | THEKERNEL->streams->printf("WARNING: beta_max_rate exceeds base_stepping_frequency * beta_steps_per_mm: %f, setting to %f\n", step_freq, beta_stepper_motor->max_rate); |
268 | } | |
269 | ||
3494f3d0 | 270 | step_freq= gamma_stepper_motor->get_max_rate() * gamma_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 271 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 272 | gamma_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / gamma_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
273 | THEKERNEL->streams->printf("WARNING: gamma_max_rate exceeds base_stepping_frequency * gamma_steps_per_mm: %f, setting to %f\n", step_freq, gamma_stepper_motor->max_rate); |
274 | } | |
275 | } | |
276 | ||
728477c4 JM |
277 | void Robot::on_halt(void *arg) |
278 | { | |
279 | halted= (arg == nullptr); | |
280 | } | |
281 | ||
4710532a JM |
282 | void Robot::on_get_public_data(void *argument) |
283 | { | |
284 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
b55cfff1 JM |
285 | |
286 | if(!pdr->starts_with(robot_checksum)) return; | |
287 | ||
288 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 289 | static float return_data; |
da947c62 | 290 | return_data = 100.0F * 60.0F / seconds_per_minute; |
b55cfff1 JM |
291 | pdr->set_data_ptr(&return_data); |
292 | pdr->set_taken(); | |
98761c28 | 293 | |
4710532a | 294 | } else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 295 | static float return_data[3]; |
4710532a JM |
296 | return_data[0] = from_millimeters(this->last_milestone[0]); |
297 | return_data[1] = from_millimeters(this->last_milestone[1]); | |
298 | return_data[2] = from_millimeters(this->last_milestone[2]); | |
b55cfff1 JM |
299 | |
300 | pdr->set_data_ptr(&return_data); | |
98761c28 | 301 | pdr->set_taken(); |
b55cfff1 | 302 | } |
5647f709 JM |
303 | } |
304 | ||
4710532a JM |
305 | void Robot::on_set_public_data(void *argument) |
306 | { | |
307 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
5647f709 | 308 | |
b55cfff1 | 309 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 310 | |
b55cfff1 | 311 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 312 | // NOTE do not use this while printing! |
4710532a | 313 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
98761c28 | 314 | // enforce minimum 10% speed |
4710532a | 315 | if (t < 10.0F) t = 10.0F; |
98761c28 | 316 | |
da947c62 | 317 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
b55cfff1 | 318 | pdr->set_taken(); |
4710532a JM |
319 | } else if(pdr->second_element_is(current_position_checksum)) { |
320 | float *t = static_cast<float *>(pdr->get_data_ptr()); | |
321 | for (int i = 0; i < 3; i++) { | |
8adf2390 L |
322 | this->last_milestone[i] = this->to_millimeters(t[i]); |
323 | } | |
324 | ||
325 | float actuator_pos[3]; | |
326 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
327 | for (int i = 0; i < 3; i++) | |
328 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
329 | ||
330 | pdr->set_taken(); | |
331 | } | |
5647f709 JM |
332 | } |
333 | ||
4cff3ded | 334 | //A GCode has been received |
edac9072 | 335 | //See if the current Gcode line has some orders for us |
4710532a JM |
336 | void Robot::on_gcode_received(void *argument) |
337 | { | |
338 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 339 | |
23c90ba6 | 340 | this->motion_mode = -1; |
4cff3ded | 341 | |
4710532a JM |
342 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
343 | if( gcode->has_g) { | |
344 | switch( gcode->g ) { | |
6e92ab91 JM |
345 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; |
346 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
347 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
348 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
c3df978d JM |
349 | case 4: { |
350 | uint32_t delay_ms= 0; | |
351 | if (gcode->has_letter('P')) { | |
352 | delay_ms= gcode->get_int('P'); | |
353 | } | |
354 | if (gcode->has_letter('S')) { | |
355 | delay_ms += gcode->get_int('S') * 1000; | |
356 | } | |
357 | if (delay_ms > 0){ | |
c3df978d JM |
358 | // drain queue |
359 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
360 | // wait for specified time | |
6ac0b51c | 361 | uint32_t start= us_ticker_read(); // mbed call |
c3df978d JM |
362 | while ((us_ticker_read() - start) < delay_ms*1000) { |
363 | THEKERNEL->call_event(ON_IDLE, this); | |
364 | } | |
365 | } | |
adba2978 | 366 | } |
6b661ab3 | 367 | break; |
6e92ab91 JM |
368 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
369 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
370 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
371 | case 20: this->inch_mode = true; break; | |
372 | case 21: this->inch_mode = false; break; | |
373 | case 90: this->absolute_mode = true; break; | |
374 | case 91: this->absolute_mode = false; break; | |
0b804a41 | 375 | case 92: { |
4710532a | 376 | if(gcode->get_num_args() == 0) { |
cef9acea JM |
377 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { |
378 | reset_axis_position(0, i); | |
379 | } | |
380 | ||
4710532a JM |
381 | } else { |
382 | for (char letter = 'X'; letter <= 'Z'; letter++) { | |
cef9acea JM |
383 | if ( gcode->has_letter(letter) ) { |
384 | reset_axis_position(this->to_millimeters(gcode->get_value(letter)), letter - 'X'); | |
385 | } | |
eaf8a8a8 | 386 | } |
6bc4a00a | 387 | } |
78d0e16a | 388 | return; |
4710532a JM |
389 | } |
390 | } | |
391 | } else if( gcode->has_m) { | |
392 | switch( gcode->m ) { | |
0fb5b438 | 393 | case 92: // M92 - set steps per mm |
0fb5b438 | 394 | if (gcode->has_letter('X')) |
78d0e16a | 395 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 396 | if (gcode->has_letter('Y')) |
78d0e16a | 397 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 398 | if (gcode->has_letter('Z')) |
78d0e16a | 399 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
400 | if (gcode->has_letter('F')) |
401 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
402 | |
403 | gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm, seconds_per_minute); | |
0fb5b438 | 404 | gcode->add_nl = true; |
dd0a7cfa | 405 | check_max_actuator_speeds(); |
0fb5b438 | 406 | return; |
562db364 | 407 | |
4710532a | 408 | case 114: { |
58c32991 JM |
409 | char buf[64]; |
410 | int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f A:%1.3f B:%1.3f C:%1.3f ", | |
4710532a JM |
411 | from_millimeters(this->last_milestone[0]), |
412 | from_millimeters(this->last_milestone[1]), | |
58c32991 JM |
413 | from_millimeters(this->last_milestone[2]), |
414 | actuators[X_AXIS]->get_current_position(), | |
415 | actuators[Y_AXIS]->get_current_position(), | |
416 | actuators[Z_AXIS]->get_current_position() ); | |
4710532a | 417 | gcode->txt_after_ok.append(buf, n); |
4710532a JM |
418 | } |
419 | return; | |
33e4cc02 | 420 | |
562db364 | 421 | case 120: { // push state |
562db364 JM |
422 | bool b= this->absolute_mode; |
423 | saved_state_t s(this->feed_rate, this->seek_rate, b); | |
424 | state_stack.push(s); | |
425 | } | |
426 | break; | |
427 | ||
428 | case 121: // pop state | |
562db364 JM |
429 | if(!state_stack.empty()) { |
430 | auto s= state_stack.top(); | |
431 | state_stack.pop(); | |
432 | this->feed_rate= std::get<0>(s); | |
433 | this->seek_rate= std::get<1>(s); | |
434 | this->absolute_mode= std::get<2>(s); | |
435 | } | |
436 | break; | |
437 | ||
83488642 JM |
438 | case 203: // M203 Set maximum feedrates in mm/sec |
439 | if (gcode->has_letter('X')) | |
4710532a | 440 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 441 | if (gcode->has_letter('Y')) |
4710532a | 442 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 443 | if (gcode->has_letter('Z')) |
4710532a | 444 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
83488642 | 445 | if (gcode->has_letter('A')) |
3494f3d0 | 446 | alpha_stepper_motor->set_max_rate(gcode->get_value('A')); |
83488642 | 447 | if (gcode->has_letter('B')) |
3494f3d0 | 448 | beta_stepper_motor->set_max_rate(gcode->get_value('B')); |
83488642 | 449 | if (gcode->has_letter('C')) |
3494f3d0 | 450 | gamma_stepper_motor->set_max_rate(gcode->get_value('C')); |
83488642 | 451 | |
dd0a7cfa JM |
452 | check_max_actuator_speeds(); |
453 | ||
928467c0 JM |
454 | if(gcode->get_num_args() == 0) { |
455 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", | |
456 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], | |
457 | alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); | |
458 | gcode->add_nl = true; | |
459 | } | |
6e92ab91 | 460 | |
83488642 JM |
461 | break; |
462 | ||
c5fe1787 | 463 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
4710532a | 464 | if (gcode->has_letter('S')) { |
4710532a | 465 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 466 | // enforce minimum |
da947c62 MM |
467 | if (acc < 1.0F) |
468 | acc = 1.0F; | |
4710532a | 469 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 | 470 | } |
c5fe1787 | 471 | if (gcode->has_letter('Z')) { |
c5fe1787 JM |
472 | float acc = gcode->get_value('Z'); // mm/s^2 |
473 | // enforce positive | |
474 | if (acc < 0.0F) | |
475 | acc = 0.0F; | |
476 | THEKERNEL->planner->z_acceleration = acc; | |
477 | } | |
d4ee6ee2 JM |
478 | break; |
479 | ||
9502f9d5 | 480 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate |
4710532a JM |
481 | if (gcode->has_letter('X')) { |
482 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 483 | // enforce minimum |
8b69c90d JM |
484 | if (jd < 0.0F) |
485 | jd = 0.0F; | |
4710532a | 486 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 487 | } |
107df03f JM |
488 | if (gcode->has_letter('Z')) { |
489 | float jd = gcode->get_value('Z'); | |
490 | // enforce minimum, -1 disables it and uses regular junction deviation | |
491 | if (jd < -1.0F) | |
492 | jd = -1.0F; | |
493 | THEKERNEL->planner->z_junction_deviation = jd; | |
494 | } | |
4710532a JM |
495 | if (gcode->has_letter('S')) { |
496 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
497 | // enforce minimum |
498 | if (mps < 0.0F) | |
499 | mps = 0.0F; | |
4710532a | 500 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 501 | } |
9502f9d5 JM |
502 | if (gcode->has_letter('Y')) { |
503 | alpha_stepper_motor->default_minimum_actuator_rate = gcode->get_value('Y'); | |
504 | } | |
d4ee6ee2 | 505 | break; |
98761c28 | 506 | |
7369629d | 507 | case 220: // M220 - speed override percentage |
4710532a | 508 | if (gcode->has_letter('S')) { |
1ad23cd3 | 509 | float factor = gcode->get_value('S'); |
98761c28 | 510 | // enforce minimum 10% speed |
da947c62 MM |
511 | if (factor < 10.0F) |
512 | factor = 10.0F; | |
513 | // enforce maximum 10x speed | |
514 | if (factor > 1000.0F) | |
515 | factor = 1000.0F; | |
516 | ||
517 | seconds_per_minute = 6000.0F / factor; | |
adba2978 | 518 | }else{ |
9ef9f45b | 519 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 520 | } |
b4f56013 | 521 | break; |
ec4773e5 | 522 | |
494dc541 | 523 | case 400: // wait until all moves are done up to this point |
314ab8f7 | 524 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
525 | break; |
526 | ||
33e4cc02 | 527 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 528 | case 503: { // M503 just prints the settings |
78d0e16a | 529 | gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); |
c5fe1787 | 530 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
c9cc5e06 | 531 | 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, THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
83488642 | 532 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
4710532a | 533 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
3494f3d0 | 534 | alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); |
b7cd847e JM |
535 | |
536 | // get or save any arm solution specific optional values | |
537 | BaseSolution::arm_options_t options; | |
538 | if(arm_solution->get_optional(options) && !options.empty()) { | |
539 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 540 | for(auto &i : options) { |
b7cd847e JM |
541 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
542 | } | |
543 | gcode->stream->printf("\n"); | |
544 | } | |
6e92ab91 | 545 | |
33e4cc02 | 546 | break; |
b7cd847e | 547 | } |
33e4cc02 | 548 | |
b7cd847e | 549 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 JM |
550 | // the parameter args could be any letter each arm solution only accepts certain ones |
551 | BaseSolution::arm_options_t options= gcode->get_args(); | |
552 | options.erase('S'); // don't include the S | |
553 | options.erase('U'); // don't include the U | |
554 | if(options.size() > 0) { | |
555 | // set the specified options | |
556 | arm_solution->set_optional(options); | |
557 | } | |
558 | options.clear(); | |
b7cd847e | 559 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 560 | // foreach optional value |
4710532a | 561 | for(auto &i : options) { |
b7cd847e JM |
562 | // print all current values of supported options |
563 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 564 | gcode->add_nl = true; |
ec4773e5 JM |
565 | } |
566 | } | |
ec4773e5 | 567 | |
4a839bea | 568 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 569 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
570 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
571 | ||
572 | }else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 | |
573 | this->mm_per_line_segment = gcode->get_value('U'); | |
574 | this->delta_segments_per_second = 0; | |
575 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 576 | } |
4a839bea | 577 | |
ec4773e5 | 578 | break; |
b7cd847e | 579 | } |
6989211c | 580 | } |
494dc541 JM |
581 | } |
582 | ||
c83887ea MM |
583 | if( this->motion_mode < 0) |
584 | return; | |
6bc4a00a | 585 | |
4710532a | 586 | //Get parameters |
1ad23cd3 | 587 | float target[3], offset[3]; |
c2885de8 | 588 | clear_vector(offset); |
6bc4a00a | 589 | |
2ba859c9 | 590 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
6bc4a00a | 591 | |
4710532a JM |
592 | for(char letter = 'I'; letter <= 'K'; letter++) { |
593 | if( gcode->has_letter(letter) ) { | |
594 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
595 | } |
596 | } | |
4710532a JM |
597 | for(char letter = 'X'; letter <= 'Z'; letter++) { |
598 | if( gcode->has_letter(letter) ) { | |
c7689006 | 599 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']); |
c2885de8 JM |
600 | } |
601 | } | |
6bc4a00a | 602 | |
4710532a | 603 | if( gcode->has_letter('F') ) { |
7369629d | 604 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 605 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 606 | else |
da947c62 | 607 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 608 | } |
6bc4a00a | 609 | |
4cff3ded | 610 | //Perform any physical actions |
fae93525 JM |
611 | switch(this->motion_mode) { |
612 | case MOTION_MODE_CANCEL: break; | |
613 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; | |
614 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
615 | case MOTION_MODE_CW_ARC: | |
616 | case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded | 617 | } |
13e4a3f9 | 618 | |
fae93525 | 619 | // last_milestone was set to target in append_milestone, no need to do it again |
4cff3ded | 620 | |
edac9072 AW |
621 | } |
622 | ||
5984acdf | 623 | // We received a new gcode, and one of the functions |
edac9072 AW |
624 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
625 | // and continue | |
4710532a JM |
626 | void Robot::distance_in_gcode_is_known(Gcode *gcode) |
627 | { | |
edac9072 | 628 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
e0ee24ed | 629 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
630 | } |
631 | ||
cef9acea JM |
632 | // reset the position for all axis (used in homing for delta as last_milestone may be bogus) |
633 | void Robot::reset_axis_position(float x, float y, float z) | |
634 | { | |
635 | this->last_milestone[X_AXIS] = x; | |
636 | this->last_milestone[Y_AXIS] = y; | |
637 | this->last_milestone[Z_AXIS] = z; | |
3632a517 JM |
638 | this->transformed_last_milestone[X_AXIS] = x; |
639 | this->transformed_last_milestone[Y_AXIS] = y; | |
640 | this->transformed_last_milestone[Z_AXIS] = z; | |
cef9acea JM |
641 | |
642 | float actuator_pos[3]; | |
643 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); | |
644 | for (int i = 0; i < 3; i++) | |
645 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
646 | } | |
647 | ||
648 | // Reset the position for an axis (used in homing and G92) | |
4710532a JM |
649 | void Robot::reset_axis_position(float position, int axis) |
650 | { | |
2ba859c9 | 651 | this->last_milestone[axis] = position; |
3632a517 | 652 | this->transformed_last_milestone[axis] = position; |
29c28822 MM |
653 | |
654 | float actuator_pos[3]; | |
cef9acea | 655 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); |
29c28822 MM |
656 | |
657 | for (int i = 0; i < 3; i++) | |
658 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
659 | } |
660 | ||
728477c4 | 661 | // Use FK to find out where actuator is and reset lastmilestone to match |
728477c4 JM |
662 | void Robot::reset_position_from_current_actuator_position() |
663 | { | |
58c32991 JM |
664 | float actuator_pos[]= {actuators[X_AXIS]->get_current_position(), actuators[Y_AXIS]->get_current_position(), actuators[Z_AXIS]->get_current_position()}; |
665 | arm_solution->actuator_to_cartesian(actuator_pos, this->last_milestone); | |
4befe777 | 666 | memcpy(this->transformed_last_milestone, this->last_milestone, sizeof(this->transformed_last_milestone)); |
cf91d4f3 JM |
667 | |
668 | // now reset actuator correctly, NOTE this may lose a little precision | |
669 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); | |
670 | for (int i = 0; i < 3; i++) | |
671 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
728477c4 | 672 | } |
edac9072 | 673 | |
4cff3ded | 674 | // Convert target from millimeters to steps, and append this to the planner |
928467c0 | 675 | void Robot::append_milestone(Gcode *gcode, float target[], float rate_mm_s ) |
df6a30f2 | 676 | { |
1ad23cd3 | 677 | float deltas[3]; |
df6a30f2 MM |
678 | float unit_vec[3]; |
679 | float actuator_pos[3]; | |
3632a517 | 680 | float transformed_target[3]; // adjust target for bed compensation |
df6a30f2 MM |
681 | float millimeters_of_travel; |
682 | ||
3632a517 JM |
683 | // unity transform by default |
684 | memcpy(transformed_target, target, sizeof(transformed_target)); | |
5e45206a | 685 | |
3632a517 JM |
686 | // check function pointer and call if set to transform the target to compensate for bed |
687 | if(compensationTransform) { | |
688 | // some compensation strategies can transform XYZ, some just change Z | |
689 | compensationTransform(transformed_target); | |
33742399 | 690 | } |
ff7e9858 | 691 | |
3632a517 JM |
692 | // find distance moved by each axis, use transformed target from last_transformed_target |
693 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++){ | |
694 | deltas[axis] = transformed_target[axis] - transformed_last_milestone[axis]; | |
695 | } | |
696 | // store last transformed | |
697 | memcpy(this->transformed_last_milestone, transformed_target, sizeof(this->transformed_last_milestone)); | |
aab6cbba | 698 | |
edac9072 | 699 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 700 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 MM |
701 | |
702 | // find distance unit vector | |
703 | for (int i = 0; i < 3; i++) | |
704 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
705 | ||
706 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
707 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
708 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 709 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
710 | |
711 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 712 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
713 | } |
714 | } | |
4cff3ded | 715 | |
5e45206a | 716 | // find actuator position given cartesian position, use actual adjusted target |
3632a517 | 717 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); |
df6a30f2 | 718 | |
928467c0 | 719 | float isecs= rate_mm_s / millimeters_of_travel; |
df6a30f2 | 720 | // check per-actuator speed limits |
4710532a | 721 | for (int actuator = 0; actuator <= 2; actuator++) { |
928467c0 JM |
722 | float actuator_rate = fabsf(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * isecs; |
723 | if (actuator_rate > actuators[actuator]->get_max_rate()){ | |
3494f3d0 | 724 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
4caeff22 | 725 | isecs= rate_mm_s / millimeters_of_travel; |
928467c0 JM |
726 | } |
727 | } | |
728 | ||
729 | // if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit | |
730 | // Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm | |
fe484657 JM |
731 | // We also check we are not exceeding the E max_speed for the current extruder |
732 | // We ask Extruder to do all the work, but as Extruder won't even see this gcode until after it has been planned | |
733 | // we need to ask it now passing in the relevant data. | |
928467c0 JM |
734 | if(gcode->has_letter('E')) { |
735 | float data[2]; | |
736 | data[0]= gcode->get_value('E'); // E target (maybe absolute or relative) | |
fe484657 | 737 | data[1]= isecs; // inverted seconds for the move |
928467c0 JM |
738 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
739 | rate_mm_s *= data[1]; | |
fe484657 | 740 | //THEKERNEL->streams->printf("Extruder has changed the rate by %f to %f\n", data[1], rate_mm_s); |
928467c0 | 741 | } |
df6a30f2 MM |
742 | } |
743 | ||
edac9072 | 744 | // Append the block to the planner |
da947c62 | 745 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 746 | |
5e45206a | 747 | // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one |
c2885de8 | 748 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
749 | |
750 | } | |
751 | ||
edac9072 | 752 | // Append a move to the queue ( cutting it into segments if needed ) |
4710532a JM |
753 | void Robot::append_line(Gcode *gcode, float target[], float rate_mm_s ) |
754 | { | |
edac9072 | 755 | // Find out the distance for this gcode |
a9d299ab | 756 | // 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 |
3b4b05b8 | 757 | 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 )); |
4cff3ded | 758 | |
3b4b05b8 JM |
759 | // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves ) |
760 | if( gcode->millimeters_of_travel < 0.00001F ) { | |
95b4885b JM |
761 | return; |
762 | } | |
436a2cd1 | 763 | |
edac9072 | 764 | // Mark the gcode as having a known distance |
5dcb2ff3 | 765 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 766 | |
4a0c8e14 JM |
767 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
768 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
3b4b05b8 JM |
769 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
770 | // 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 | |
4a0c8e14 | 771 | uint16_t segments; |
5984acdf | 772 | |
c2885de8 | 773 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
774 | // enabled if set to something > 1, it is set to 0.0 by default |
775 | // segment based on current speed and requested segments per second | |
776 | // the faster the travel speed the fewer segments needed | |
777 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 778 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
9502f9d5 | 779 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 780 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 781 | |
4710532a JM |
782 | } else { |
783 | if(this->mm_per_line_segment == 0.0F) { | |
784 | segments = 1; // don't split it up | |
785 | } else { | |
9502f9d5 | 786 | segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
787 | } |
788 | } | |
5984acdf | 789 | |
4710532a | 790 | if (segments > 1) { |
2ba859c9 MM |
791 | // A vector to keep track of the endpoint of each segment |
792 | float segment_delta[3]; | |
793 | float segment_end[3]; | |
794 | ||
795 | // How far do we move each segment? | |
9fff6045 | 796 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2ba859c9 | 797 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 798 | |
c8e0fb15 MM |
799 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
800 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 801 | for (int i = 1; i < segments; i++) { |
1da77df4 | 802 | if(halted) return; // don't queue any more segments |
4710532a | 803 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
2ba859c9 MM |
804 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
805 | ||
806 | // Append the end of this segment to the queue | |
928467c0 | 807 | this->append_milestone(gcode, segment_end, rate_mm_s); |
2ba859c9 | 808 | } |
4cff3ded | 809 | } |
5984acdf MM |
810 | |
811 | // Append the end of this full move to the queue | |
928467c0 | 812 | this->append_milestone(gcode, target, rate_mm_s); |
2134bcf2 MM |
813 | |
814 | // if adding these blocks didn't start executing, do that now | |
815 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
816 | } |
817 | ||
4cff3ded | 818 | |
edac9072 | 819 | // Append an arc to the queue ( cutting it into segments as needed ) |
4710532a JM |
820 | void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radius, bool is_clockwise ) |
821 | { | |
aab6cbba | 822 | |
edac9072 | 823 | // Scary math |
2ba859c9 MM |
824 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
825 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
826 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
827 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
828 | float r_axis1 = -offset[this->plane_axis_1]; | |
829 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
830 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 831 | |
51871fb8 | 832 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 833 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
5fa0c173 PA |
834 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
835 | if (is_clockwise) { // Correct atan2 output per direction | |
836 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2*M_PI; } | |
837 | } else { | |
838 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2*M_PI; } | |
4710532a | 839 | } |
aab6cbba | 840 | |
edac9072 | 841 | // Find the distance for this gcode |
4710532a | 842 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 843 | |
edac9072 | 844 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
3b4b05b8 | 845 | if( gcode->millimeters_of_travel < 0.00001F ) { |
4710532a JM |
846 | return; |
847 | } | |
5dcb2ff3 | 848 | |
edac9072 | 849 | // Mark the gcode as having a known distance |
d149c730 | 850 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
851 | |
852 | // Figure out how many segments for this gcode | |
c8f4ee77 | 853 | uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 854 | |
4710532a JM |
855 | float theta_per_segment = angular_travel / segments; |
856 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
857 | |
858 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
859 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
860 | r_T = [cos(phi) -sin(phi); | |
861 | sin(phi) cos(phi] * r ; | |
862 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
863 | defined from the circle center to the initial position. Each line segment is formed by successive | |
864 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
865 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 866 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
867 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
868 | tool precision in some cases. Therefore, arc path correction is implemented. | |
869 | ||
870 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
871 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
872 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
873 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
874 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
875 | issue for CNC machines with the single precision Arduino calculations. | |
876 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
877 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
878 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
879 | This is important when there are successive arc motions. | |
880 | */ | |
881 | // Vector rotation matrix values | |
4710532a | 882 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 883 | float sin_T = theta_per_segment; |
aab6cbba | 884 | |
1ad23cd3 MM |
885 | float arc_target[3]; |
886 | float sin_Ti; | |
887 | float cos_Ti; | |
888 | float r_axisi; | |
aab6cbba AW |
889 | uint16_t i; |
890 | int8_t count = 0; | |
891 | ||
892 | // Initialize the linear axis | |
2ba859c9 | 893 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 894 | |
4710532a | 895 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
728477c4 | 896 | if(halted) return; // don't queue any more segments |
aab6cbba | 897 | |
b66fb830 | 898 | if (count < this->arc_correction ) { |
4710532a JM |
899 | // Apply vector rotation matrix |
900 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
901 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
902 | r_axis1 = r_axisi; | |
903 | count++; | |
aab6cbba | 904 | } else { |
4710532a JM |
905 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
906 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
907 | cos_Ti = cosf(i * theta_per_segment); | |
908 | sin_Ti = sinf(i * theta_per_segment); | |
909 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
910 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
911 | count = 0; | |
aab6cbba AW |
912 | } |
913 | ||
914 | // Update arc_target location | |
915 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
916 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
917 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
918 | |
919 | // Append this segment to the queue | |
928467c0 | 920 | this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
921 | |
922 | } | |
edac9072 | 923 | |
aab6cbba | 924 | // Ensure last segment arrives at target location. |
928467c0 | 925 | this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
926 | } |
927 | ||
edac9072 | 928 | // Do the math for an arc and add it to the queue |
4710532a JM |
929 | void Robot::compute_arc(Gcode *gcode, float offset[], float target[]) |
930 | { | |
aab6cbba AW |
931 | |
932 | // Find the radius | |
13addf09 | 933 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
934 | |
935 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
936 | bool is_clockwise = false; | |
4710532a JM |
937 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
938 | is_clockwise = true; | |
939 | } | |
aab6cbba AW |
940 | |
941 | // Append arc | |
436a2cd1 | 942 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
943 | |
944 | } | |
945 | ||
946 | ||
4710532a JM |
947 | float Robot::theta(float x, float y) |
948 | { | |
949 | float t = atanf(x / fabs(y)); | |
950 | if (y > 0) { | |
951 | return(t); | |
952 | } else { | |
953 | if (t > 0) { | |
954 | return(M_PI - t); | |
955 | } else { | |
956 | return(-M_PI - t); | |
957 | } | |
958 | } | |
4cff3ded AW |
959 | } |
960 | ||
4710532a JM |
961 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
962 | { | |
4cff3ded AW |
963 | this->plane_axis_0 = axis_0; |
964 | this->plane_axis_1 = axis_1; | |
965 | this->plane_axis_2 = axis_2; | |
966 | } | |
967 | ||
fae93525 | 968 | void Robot::clearToolOffset() |
4710532a | 969 | { |
fae93525 JM |
970 | memset(this->toolOffset, 0, sizeof(this->toolOffset)); |
971 | } | |
972 | ||
973 | void Robot::setToolOffset(const float offset[3]) | |
974 | { | |
fae93525 | 975 | memcpy(this->toolOffset, offset, sizeof(this->toolOffset)); |
5966b7d0 AT |
976 | } |
977 |