Commit | Line | Data |
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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" |
4cff3ded AW |
26 | #include "arm_solutions/BaseSolution.h" |
27 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 28 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 29 | #include "arm_solutions/LinearDeltaSolution.h" |
11a39396 | 30 | #include "arm_solutions/RotaryDeltaSolution.h" |
bdaaa75d | 31 | #include "arm_solutions/HBotSolution.h" |
fff1e42d | 32 | #include "arm_solutions/CoreXZSolution.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" |
0ec2f63a JM |
41 | #include "GcodeDispatch.h" |
42 | ||
38bf9a1c | 43 | |
78d0e16a MM |
44 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
45 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
46 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
47 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
48 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
49 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
50 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
51 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
52 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
53 | |
54 | // arm solutions | |
78d0e16a MM |
55 | #define arm_solution_checksum CHECKSUM("arm_solution") |
56 | #define cartesian_checksum CHECKSUM("cartesian") | |
57 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
58 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 59 | #define linear_delta_checksum CHECKSUM("linear_delta") |
11a39396 | 60 | #define rotary_delta_checksum CHECKSUM("rotary_delta") |
78d0e16a MM |
61 | #define delta_checksum CHECKSUM("delta") |
62 | #define hbot_checksum CHECKSUM("hbot") | |
63 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 64 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 65 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 66 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 67 | |
78d0e16a MM |
68 | // new-style actuator stuff |
69 | #define actuator_checksum CHEKCSUM("actuator") | |
70 | ||
71 | #define step_pin_checksum CHECKSUM("step_pin") | |
72 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
73 | #define en_pin_checksum CHECKSUM("en_pin") | |
74 | ||
75 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 76 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
77 | |
78 | #define alpha_checksum CHECKSUM("alpha") | |
79 | #define beta_checksum CHECKSUM("beta") | |
80 | #define gamma_checksum CHECKSUM("gamma") | |
81 | ||
38bf9a1c JM |
82 | #define NEXT_ACTION_DEFAULT 0 |
83 | #define NEXT_ACTION_DWELL 1 | |
84 | #define NEXT_ACTION_GO_HOME 2 | |
85 | ||
86 | #define MOTION_MODE_SEEK 0 // G0 | |
87 | #define MOTION_MODE_LINEAR 1 // G1 | |
88 | #define MOTION_MODE_CW_ARC 2 // G2 | |
89 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
90 | #define MOTION_MODE_CANCEL 4 // G80 | |
91 | ||
92 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
93 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
94 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
95 | ||
96 | #define PROGRAM_FLOW_RUNNING 0 | |
97 | #define PROGRAM_FLOW_PAUSED 1 | |
98 | #define PROGRAM_FLOW_COMPLETED 2 | |
99 | ||
100 | #define SPINDLE_DIRECTION_CW 0 | |
101 | #define SPINDLE_DIRECTION_CCW 1 | |
102 | ||
5fa0c173 PA |
103 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians) |
104 | ||
edac9072 AW |
105 | // 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 |
106 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
107 | ||
4710532a JM |
108 | Robot::Robot() |
109 | { | |
a1b7e9f0 | 110 | this->inch_mode = false; |
0e8b102e | 111 | this->absolute_mode = true; |
df27a6a3 | 112 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 113 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 114 | clear_vector(this->last_milestone); |
c2f7c261 | 115 | clear_vector(this->last_machine_position); |
0b804a41 | 116 | this->arm_solution = NULL; |
da947c62 | 117 | seconds_per_minute = 60.0F; |
fae93525 | 118 | this->clearToolOffset(); |
03b01bac JM |
119 | this->compensationTransform = nullptr; |
120 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); | |
121 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 122 | this->next_command_is_MCS = false; |
778093ce | 123 | this->disable_segmentation= false; |
4cff3ded AW |
124 | } |
125 | ||
126 | //Called when the module has just been loaded | |
4710532a JM |
127 | void Robot::on_module_loaded() |
128 | { | |
4cff3ded AW |
129 | this->register_for_event(ON_GCODE_RECEIVED); |
130 | ||
131 | // Configuration | |
807b9b57 | 132 | this->load_config(); |
da24d6ae AW |
133 | } |
134 | ||
807b9b57 JM |
135 | #define ACTUATOR_CHECKSUMS(X) { \ |
136 | CHECKSUM(X "_step_pin"), \ | |
137 | CHECKSUM(X "_dir_pin"), \ | |
138 | CHECKSUM(X "_en_pin"), \ | |
139 | CHECKSUM(X "_steps_per_mm"), \ | |
140 | CHECKSUM(X "_max_rate") \ | |
141 | } | |
5984acdf | 142 | |
807b9b57 JM |
143 | void Robot::load_config() |
144 | { | |
edac9072 AW |
145 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
146 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
147 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 148 | // Here we read the config to find out which arm solution to use |
0b804a41 | 149 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 150 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 151 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 152 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 153 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 154 | |
fff1e42d JJ |
155 | } else if(solution_checksum == corexz_checksum) { |
156 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
157 | ||
2a06c415 JM |
158 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
159 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 160 | |
4710532a | 161 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 162 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 163 | |
11a39396 JM |
164 | } else if(solution_checksum == rotary_delta_checksum) { |
165 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 166 | |
1217e470 QH |
167 | } else if(solution_checksum == morgan_checksum) { |
168 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
169 | ||
4710532a | 170 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 171 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 172 | |
4710532a | 173 | } else { |
314ab8f7 | 174 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 175 | } |
73a4e3c0 | 176 | |
6b661ab3 DP |
177 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
178 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
179 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
180 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
181 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); | |
182 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 183 | |
6b661ab3 DP |
184 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
185 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
186 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 187 | |
78d0e16a | 188 | // Make our 3 StepperMotors |
807b9b57 JM |
189 | uint16_t const checksums[][5] = { |
190 | ACTUATOR_CHECKSUMS("alpha"), | |
191 | ACTUATOR_CHECKSUMS("beta"), | |
192 | ACTUATOR_CHECKSUMS("gamma"), | |
193 | #if MAX_ROBOT_ACTUATORS > 3 | |
194 | ACTUATOR_CHECKSUMS("delta"), | |
195 | ACTUATOR_CHECKSUMS("epsilon"), | |
196 | ACTUATOR_CHECKSUMS("zeta") | |
197 | #endif | |
198 | }; | |
03b01bac | 199 | constexpr size_t actuator_checksum_count = sizeof(checksums) / sizeof(checksums[0]); |
807b9b57 JM |
200 | static_assert(actuator_checksum_count >= k_max_actuators, "Robot checksum array too small for k_max_actuators"); |
201 | ||
202 | size_t motor_count = std::min(this->arm_solution->get_actuator_count(), k_max_actuators); | |
203 | for (size_t a = 0; a < motor_count; a++) { | |
204 | Pin pins[3]; //step, dir, enable | |
205 | for (size_t i = 0; i < 3; i++) { | |
206 | pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output(); | |
207 | } | |
03b01bac | 208 | actuators[a] = new StepperMotor(pins[0], pins[1], pins[2]); |
78d0e16a | 209 | |
03b01bac | 210 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
807b9b57 JM |
211 | actuators[a]->set_max_rate(THEKERNEL->config->value(checksums[a][4])->by_default(30000.0F)->as_number()); |
212 | } | |
a84f0186 | 213 | |
dd0a7cfa | 214 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 215 | |
975469ad MM |
216 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
217 | // so the first move can be correct if homing is not performed | |
807b9b57 | 218 | ActuatorCoordinates actuator_pos; |
975469ad | 219 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
807b9b57 | 220 | for (size_t i = 0; i < actuators.size(); i++) |
975469ad | 221 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
222 | |
223 | //this->clearToolOffset(); | |
4cff3ded AW |
224 | } |
225 | ||
212caccd JM |
226 | void Robot::push_state() |
227 | { | |
03b01bac JM |
228 | bool am = this->absolute_mode; |
229 | bool im = this->inch_mode; | |
a6bbe768 | 230 | saved_state_t s(this->feed_rate, this->seek_rate, am, im, current_wcs); |
212caccd JM |
231 | state_stack.push(s); |
232 | } | |
233 | ||
234 | void Robot::pop_state() | |
235 | { | |
03b01bac JM |
236 | if(!state_stack.empty()) { |
237 | auto s = state_stack.top(); | |
212caccd | 238 | state_stack.pop(); |
03b01bac JM |
239 | this->feed_rate = std::get<0>(s); |
240 | this->seek_rate = std::get<1>(s); | |
241 | this->absolute_mode = std::get<2>(s); | |
242 | this->inch_mode = std::get<3>(s); | |
a6bbe768 | 243 | this->current_wcs = std::get<4>(s); |
212caccd JM |
244 | } |
245 | } | |
246 | ||
34210908 JM |
247 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
248 | { | |
249 | std::vector<wcs_t> v; | |
0b8b81b6 | 250 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
251 | for(auto& i : wcs_offsets) { |
252 | v.push_back(i); | |
253 | } | |
254 | v.push_back(g92_offset); | |
255 | v.push_back(tool_offset); | |
256 | return v; | |
257 | } | |
258 | ||
e03f2747 | 259 | int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const |
2791c829 JM |
260 | { |
261 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
262 | // it returns the realtime position based on the current step position of the actuators. | |
263 | // this does require a FK to get a machine position from the actuator position | |
264 | // and then invert all the transforms to get a workspace position from machine position | |
265 | // M114 just does it the old way uses last_milestone and does inversse tranfroms to get the requested position | |
2791c829 | 266 | int n = 0; |
e03f2747 | 267 | if(subcode == 0) { // M114 print WCS |
2791c829 | 268 | wcs_t pos= mcs2wcs(last_milestone); |
31c6c2c2 | 269 | n = snprintf(buf, bufsize, "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 270 | |
e03f2747 | 271 | } else if(subcode == 4) { // M114.3 print last milestone (which should be the same as machine position if axis are not moving and no level compensation) |
31c6c2c2 | 272 | n = snprintf(buf, bufsize, "LMS: X:%1.4f Y:%1.4f Z:%1.4f", last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); |
2791c829 | 273 | |
e03f2747 | 274 | } else if(subcode == 5) { // M114.4 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) |
cf6b8fd1 | 275 | n = snprintf(buf, bufsize, "LMP: X:%1.4f Y:%1.4f Z:%1.4f", last_machine_position[X_AXIS], last_machine_position[Y_AXIS], last_machine_position[Z_AXIS]); |
2791c829 JM |
276 | |
277 | } else { | |
278 | // get real time positions | |
279 | // current actuator position in mm | |
280 | ActuatorCoordinates current_position{ | |
281 | actuators[X_AXIS]->get_current_position(), | |
282 | actuators[Y_AXIS]->get_current_position(), | |
283 | actuators[Z_AXIS]->get_current_position() | |
284 | }; | |
285 | ||
286 | // get machine position from the actuator position using FK | |
287 | float mpos[3]; | |
288 | arm_solution->actuator_to_cartesian(current_position, mpos); | |
289 | ||
e03f2747 | 290 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 JM |
291 | // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little) |
292 | wcs_t pos= mcs2wcs(mpos); | |
31c6c2c2 | 293 | n = snprintf(buf, bufsize, "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 294 | |
e03f2747 | 295 | } else if(subcode == 2) { // M114.1 print realtime Machine coordinate system |
31c6c2c2 | 296 | n = snprintf(buf, bufsize, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
2791c829 | 297 | |
e03f2747 | 298 | } else if(subcode == 3) { // M114.2 print realtime actuator position |
31c6c2c2 | 299 | n = snprintf(buf, bufsize, "APOS: A:%1.4f B:%1.4f C:%1.4f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
2791c829 JM |
300 | } |
301 | } | |
e03f2747 | 302 | return n; |
2791c829 JM |
303 | } |
304 | ||
dc27139b | 305 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 306 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
307 | { |
308 | return std::make_tuple( | |
31c6c2c2 JM |
309 | std::get<X_AXIS>(pos) - std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset) - std::get<X_AXIS>(tool_offset), |
310 | std::get<Y_AXIS>(pos) - std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset) - std::get<Y_AXIS>(tool_offset), | |
311 | std::get<Z_AXIS>(pos) - std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset) - std::get<Z_AXIS>(tool_offset) | |
dc27139b JM |
312 | ); |
313 | } | |
314 | ||
dd0a7cfa JM |
315 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
316 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
317 | void Robot::check_max_actuator_speeds() | |
318 | { | |
807b9b57 JM |
319 | for (size_t i = 0; i < actuators.size(); i++) { |
320 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); | |
321 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
322 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
03b01bac | 323 | THEKERNEL->streams->printf("WARNING: actuator %c rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", 'A' + i, step_freq, actuators[i]->max_rate); |
807b9b57 | 324 | } |
dd0a7cfa JM |
325 | } |
326 | } | |
327 | ||
4cff3ded | 328 | //A GCode has been received |
edac9072 | 329 | //See if the current Gcode line has some orders for us |
4710532a JM |
330 | void Robot::on_gcode_received(void *argument) |
331 | { | |
332 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 333 | |
23c90ba6 | 334 | this->motion_mode = -1; |
4cff3ded | 335 | |
4710532a JM |
336 | if( gcode->has_g) { |
337 | switch( gcode->g ) { | |
c2f7c261 JM |
338 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; |
339 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
340 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
341 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
342 | case 4: { // G4 pause | |
03b01bac | 343 | uint32_t delay_ms = 0; |
c3df978d | 344 | if (gcode->has_letter('P')) { |
03b01bac | 345 | delay_ms = gcode->get_int('P'); |
c3df978d JM |
346 | } |
347 | if (gcode->has_letter('S')) { | |
348 | delay_ms += gcode->get_int('S') * 1000; | |
349 | } | |
03b01bac | 350 | if (delay_ms > 0) { |
c3df978d JM |
351 | // drain queue |
352 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
353 | // wait for specified time | |
03b01bac JM |
354 | uint32_t start = us_ticker_read(); // mbed call |
355 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 356 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 357 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
358 | } |
359 | } | |
adba2978 | 360 | } |
6b661ab3 | 361 | break; |
807b9b57 | 362 | |
a6bbe768 | 363 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 364 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
365 | size_t n = gcode->get_uint('P'); |
366 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 367 | else --n; |
0b8b81b6 | 368 | if(n < MAX_WCS) { |
807b9b57 | 369 | float x, y, z; |
03b01bac | 370 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 371 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 372 | // this makes the current machine position (less compensation transform) the offset |
dc27139b JM |
373 | // get current position in WCS |
374 | wcs_t pos= mcs2wcs(last_milestone); | |
375 | ||
376 | if(gcode->has_letter('X')){ | |
377 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
378 | } | |
379 | ||
380 | if(gcode->has_letter('Y')){ | |
381 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
382 | } | |
383 | if(gcode->has_letter('Z')) { | |
384 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
385 | } | |
386 | ||
a6bbe768 | 387 | } else { |
00e607c7 JM |
388 | // the value is the offset from machine zero |
389 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
390 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
391 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
392 | } | |
03b01bac | 393 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
394 | } |
395 | } | |
396 | break; | |
397 | ||
6e92ab91 JM |
398 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
399 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
400 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
401 | case 20: this->inch_mode = true; break; | |
402 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
403 | |
404 | case 54: case 55: case 56: case 57: case 58: case 59: | |
405 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 406 | current_wcs = gcode->g - 54; |
807b9b57 JM |
407 | if(gcode->g == 59 && gcode->subcode > 0) { |
408 | current_wcs += gcode->subcode; | |
0b8b81b6 | 409 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
410 | } |
411 | break; | |
412 | ||
6e92ab91 JM |
413 | case 90: this->absolute_mode = true; break; |
414 | case 91: this->absolute_mode = false; break; | |
807b9b57 | 415 | |
0b804a41 | 416 | case 92: { |
c2f7c261 | 417 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
418 | // reset G92 offsets to 0 |
419 | g92_offset = wcs_t(0, 0, 0); | |
420 | ||
4710532a | 421 | } else { |
61a3fa99 | 422 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 423 | float x, y, z; |
03b01bac | 424 | std::tie(x, y, z) = g92_offset; |
61a3fa99 JM |
425 | // get current position in WCS |
426 | wcs_t pos= mcs2wcs(last_milestone); | |
427 | ||
428 | // adjust g92 offset to make the current wpos == the value requested | |
429 | if(gcode->has_letter('X')){ | |
430 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
431 | } | |
dc27139b JM |
432 | if(gcode->has_letter('Y')){ |
433 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
434 | } | |
435 | if(gcode->has_letter('Z')) { | |
436 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
437 | } | |
03b01bac | 438 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 439 | } |
a6bbe768 | 440 | |
78d0e16a | 441 | return; |
4710532a JM |
442 | } |
443 | } | |
67a649dd | 444 | |
4710532a JM |
445 | } else if( gcode->has_m) { |
446 | switch( gcode->m ) { | |
ea5e302b JM |
447 | case 0: // M0 feed hold |
448 | if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(true); | |
449 | break; | |
807b9b57 | 450 | case 2: // M2 end of program |
8ad60a4c | 451 | case 30: // M30 end of program |
03b01bac JM |
452 | current_wcs = 0; |
453 | absolute_mode = true; | |
807b9b57 JM |
454 | break; |
455 | ||
0fb5b438 | 456 | case 92: // M92 - set steps per mm |
0fb5b438 | 457 | if (gcode->has_letter('X')) |
78d0e16a | 458 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 459 | if (gcode->has_letter('Y')) |
78d0e16a | 460 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 461 | if (gcode->has_letter('Z')) |
78d0e16a | 462 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
78d0e16a | 463 | |
7f818fc8 | 464 | gcode->stream->printf("X:%f Y:%f Z:%f ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); |
0fb5b438 | 465 | gcode->add_nl = true; |
dd0a7cfa | 466 | check_max_actuator_speeds(); |
0fb5b438 | 467 | return; |
562db364 | 468 | |
e03f2747 JM |
469 | case 114:{ |
470 | char buf[64]; | |
471 | int n= print_position(gcode->subcode, buf, sizeof buf); | |
472 | if(n > 0) gcode->txt_after_ok.append(buf, n); | |
2791c829 | 473 | return; |
e03f2747 | 474 | } |
33e4cc02 | 475 | |
212caccd JM |
476 | case 120: // push state |
477 | push_state(); | |
478 | break; | |
562db364 JM |
479 | |
480 | case 121: // pop state | |
212caccd | 481 | pop_state(); |
562db364 JM |
482 | break; |
483 | ||
83488642 JM |
484 | case 203: // M203 Set maximum feedrates in mm/sec |
485 | if (gcode->has_letter('X')) | |
4710532a | 486 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 487 | if (gcode->has_letter('Y')) |
4710532a | 488 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 489 | if (gcode->has_letter('Z')) |
4710532a | 490 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
807b9b57 JM |
491 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
492 | if (gcode->has_letter('A' + i)) | |
493 | actuators[i]->set_max_rate(gcode->get_value('A' + i)); | |
494 | } | |
dd0a7cfa JM |
495 | check_max_actuator_speeds(); |
496 | ||
928467c0 | 497 | if(gcode->get_num_args() == 0) { |
807b9b57 | 498 | gcode->stream->printf("X:%g Y:%g Z:%g", |
03b01bac | 499 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); |
807b9b57 JM |
500 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
501 | gcode->stream->printf(" %c : %g", 'A' + i, actuators[i]->get_max_rate()); //xxx | |
502 | } | |
928467c0 JM |
503 | gcode->add_nl = true; |
504 | } | |
83488642 JM |
505 | break; |
506 | ||
c5fe1787 | 507 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
4710532a | 508 | if (gcode->has_letter('S')) { |
4710532a | 509 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 510 | // enforce minimum |
da947c62 MM |
511 | if (acc < 1.0F) |
512 | acc = 1.0F; | |
4710532a | 513 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 | 514 | } |
c5fe1787 | 515 | if (gcode->has_letter('Z')) { |
c5fe1787 JM |
516 | float acc = gcode->get_value('Z'); // mm/s^2 |
517 | // enforce positive | |
518 | if (acc < 0.0F) | |
519 | acc = 0.0F; | |
520 | THEKERNEL->planner->z_acceleration = acc; | |
521 | } | |
d4ee6ee2 JM |
522 | break; |
523 | ||
9502f9d5 | 524 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate |
4710532a JM |
525 | if (gcode->has_letter('X')) { |
526 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 527 | // enforce minimum |
8b69c90d JM |
528 | if (jd < 0.0F) |
529 | jd = 0.0F; | |
4710532a | 530 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 531 | } |
107df03f JM |
532 | if (gcode->has_letter('Z')) { |
533 | float jd = gcode->get_value('Z'); | |
534 | // enforce minimum, -1 disables it and uses regular junction deviation | |
535 | if (jd < -1.0F) | |
536 | jd = -1.0F; | |
537 | THEKERNEL->planner->z_junction_deviation = jd; | |
538 | } | |
4710532a JM |
539 | if (gcode->has_letter('S')) { |
540 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
541 | // enforce minimum |
542 | if (mps < 0.0F) | |
543 | mps = 0.0F; | |
4710532a | 544 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 545 | } |
9502f9d5 | 546 | if (gcode->has_letter('Y')) { |
807b9b57 | 547 | actuators[0]->default_minimum_actuator_rate = gcode->get_value('Y'); |
9502f9d5 | 548 | } |
d4ee6ee2 | 549 | break; |
98761c28 | 550 | |
7369629d | 551 | case 220: // M220 - speed override percentage |
4710532a | 552 | if (gcode->has_letter('S')) { |
1ad23cd3 | 553 | float factor = gcode->get_value('S'); |
98761c28 | 554 | // enforce minimum 10% speed |
da947c62 MM |
555 | if (factor < 10.0F) |
556 | factor = 10.0F; | |
557 | // enforce maximum 10x speed | |
558 | if (factor > 1000.0F) | |
559 | factor = 1000.0F; | |
560 | ||
561 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 562 | } else { |
9ef9f45b | 563 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 564 | } |
b4f56013 | 565 | break; |
ec4773e5 | 566 | |
494dc541 | 567 | case 400: // wait until all moves are done up to this point |
314ab8f7 | 568 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
569 | break; |
570 | ||
33e4cc02 | 571 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 572 | case 503: { // M503 just prints the settings |
78d0e16a | 573 | 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 | 574 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
c9cc5e06 | 575 | 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); |
807b9b57 JM |
576 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f", |
577 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); | |
03b01bac | 578 | for (size_t i = 0; i < 3 && i < actuators.size(); i++) { |
807b9b57 JM |
579 | gcode->stream->printf(" %c%1.5f", 'A' + i, actuators[i]->get_max_rate()); |
580 | } | |
581 | gcode->stream->printf("\n"); | |
b7cd847e JM |
582 | |
583 | // get or save any arm solution specific optional values | |
584 | BaseSolution::arm_options_t options; | |
585 | if(arm_solution->get_optional(options) && !options.empty()) { | |
586 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 587 | for(auto &i : options) { |
b7cd847e JM |
588 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
589 | } | |
590 | gcode->stream->printf("\n"); | |
591 | } | |
6e92ab91 | 592 | |
807b9b57 JM |
593 | // save wcs_offsets and current_wcs |
594 | // TODO this may need to be done whenever they change to be compliant | |
595 | gcode->stream->printf(";WCS settings\n"); | |
40fd5d98 | 596 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); |
03b01bac | 597 | int n = 1; |
807b9b57 | 598 | for(auto &i : wcs_offsets) { |
2791c829 | 599 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
600 | float x, y, z; |
601 | std::tie(x, y, z) = i; | |
40fd5d98 | 602 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n, x, y, z, wcs2gcode(n-1).c_str()); |
2791c829 | 603 | } |
807b9b57 JM |
604 | ++n; |
605 | } | |
543d4814 JM |
606 | // linuxcnc does seem to save G92, so we do too |
607 | // also it needs to be used to set Z0 on rotary deltas as M206/306 can't be used | |
03b01bac | 608 | if(g92_offset != wcs_t(0, 0, 0)) { |
67a649dd JM |
609 | float x, y, z; |
610 | std::tie(x, y, z) = g92_offset; | |
543d4814 | 611 | gcode->stream->printf("G92 X%f Y%f Z%f\n", x, y, z); |
67a649dd JM |
612 | } |
613 | } | |
807b9b57 | 614 | break; |
33e4cc02 | 615 | |
b7cd847e | 616 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 617 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 618 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
619 | options.erase('S'); // don't include the S |
620 | options.erase('U'); // don't include the U | |
621 | if(options.size() > 0) { | |
622 | // set the specified options | |
623 | arm_solution->set_optional(options); | |
624 | } | |
625 | options.clear(); | |
b7cd847e | 626 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 627 | // foreach optional value |
4710532a | 628 | for(auto &i : options) { |
b7cd847e JM |
629 | // print all current values of supported options |
630 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 631 | gcode->add_nl = true; |
ec4773e5 JM |
632 | } |
633 | } | |
ec4773e5 | 634 | |
4a839bea | 635 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 636 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
637 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
638 | ||
03b01bac | 639 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
640 | this->mm_per_line_segment = gcode->get_value('U'); |
641 | this->delta_segments_per_second = 0; | |
642 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 643 | } |
4a839bea | 644 | |
ec4773e5 | 645 | break; |
b7cd847e | 646 | } |
6989211c | 647 | } |
494dc541 JM |
648 | } |
649 | ||
c2f7c261 JM |
650 | if( this->motion_mode >= 0) { |
651 | process_move(gcode); | |
00e607c7 | 652 | } |
6bc4a00a | 653 | |
c2f7c261 JM |
654 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
655 | } | |
350c8a60 | 656 | |
5d2319a9 | 657 | // process a G0/G1/G2/G3 |
c2f7c261 JM |
658 | void Robot::process_move(Gcode *gcode) |
659 | { | |
2791c829 | 660 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
c2f7c261 | 661 | float param[3]{NAN, NAN, NAN}; |
350c8a60 JM |
662 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
663 | char letter= 'X'+i; | |
664 | if( gcode->has_letter(letter) ) { | |
665 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
666 | } |
667 | } | |
6bc4a00a | 668 | |
c2f7c261 | 669 | float offset[3]{0,0,0}; |
4710532a JM |
670 | for(char letter = 'I'; letter <= 'K'; letter++) { |
671 | if( gcode->has_letter(letter) ) { | |
672 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
673 | } |
674 | } | |
00e607c7 | 675 | |
c2f7c261 JM |
676 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
677 | float target[3]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]}; | |
350c8a60 JM |
678 | if(!next_command_is_MCS) { |
679 | if(this->absolute_mode) { | |
c2f7c261 JM |
680 | // apply wcs offsets and g92 offset and tool offset |
681 | if(!isnan(param[X_AXIS])) { | |
682 | target[X_AXIS]= param[X_AXIS] + std::get<X_AXIS>(wcs_offsets[current_wcs]) - std::get<X_AXIS>(g92_offset) + std::get<X_AXIS>(tool_offset); | |
683 | } | |
684 | ||
685 | if(!isnan(param[Y_AXIS])) { | |
686 | target[Y_AXIS]= param[Y_AXIS] + std::get<Y_AXIS>(wcs_offsets[current_wcs]) - std::get<Y_AXIS>(g92_offset) + std::get<Y_AXIS>(tool_offset); | |
687 | } | |
688 | ||
689 | if(!isnan(param[Z_AXIS])) { | |
690 | target[Z_AXIS]= param[Z_AXIS] + std::get<Z_AXIS>(wcs_offsets[current_wcs]) - std::get<Z_AXIS>(g92_offset) + std::get<Z_AXIS>(tool_offset); | |
691 | } | |
350c8a60 JM |
692 | |
693 | }else{ | |
694 | // they are deltas from the last_milestone if specified | |
695 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
c2f7c261 | 696 | if(!isnan(param[i])) target[i] = param[i] + last_milestone[i]; |
a6bbe768 JM |
697 | } |
698 | } | |
699 | ||
350c8a60 | 700 | }else{ |
c2f7c261 JM |
701 | // already in machine coordinates, we do not add tool offset for that |
702 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
703 | if(!isnan(param[i])) target[i] = param[i]; | |
704 | } | |
c2885de8 | 705 | } |
6bc4a00a | 706 | |
4710532a | 707 | if( gcode->has_letter('F') ) { |
7369629d | 708 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 709 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 710 | else |
da947c62 | 711 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 712 | } |
6bc4a00a | 713 | |
350c8a60 JM |
714 | bool moved= false; |
715 | //Perform any physical actions | |
fae93525 | 716 | switch(this->motion_mode) { |
350c8a60 JM |
717 | case MOTION_MODE_CANCEL: |
718 | break; | |
719 | case MOTION_MODE_SEEK: | |
720 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); | |
721 | break; | |
722 | case MOTION_MODE_LINEAR: | |
723 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); | |
724 | break; | |
fae93525 | 725 | case MOTION_MODE_CW_ARC: |
350c8a60 JM |
726 | case MOTION_MODE_CCW_ARC: |
727 | moved= this->compute_arc(gcode, offset, target ); | |
728 | break; | |
4cff3ded | 729 | } |
13e4a3f9 | 730 | |
c2f7c261 JM |
731 | if(moved) { |
732 | // set last_milestone to the calculated target | |
733 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); | |
350c8a60 | 734 | } |
edac9072 AW |
735 | } |
736 | ||
5984acdf | 737 | // We received a new gcode, and one of the functions |
edac9072 AW |
738 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
739 | // and continue | |
03b01bac | 740 | void Robot::distance_in_gcode_is_known(Gcode * gcode) |
4710532a | 741 | { |
edac9072 | 742 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
e0ee24ed | 743 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
744 | } |
745 | ||
a6bbe768 | 746 | // reset the machine position for all axis. Used for homing. |
f6934849 JM |
747 | // During homing compensation is turned off (actually not used as it drives steppers directly) |
748 | // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled, | |
749 | // so in those cases the final position is compensated. | |
cef9acea JM |
750 | void Robot::reset_axis_position(float x, float y, float z) |
751 | { | |
f6934849 | 752 | // these are set to the same as compensation was not used to get to the current position |
c2f7c261 JM |
753 | last_machine_position[X_AXIS]= last_milestone[X_AXIS] = x; |
754 | last_machine_position[Y_AXIS]= last_milestone[Y_AXIS] = y; | |
755 | last_machine_position[Z_AXIS]= last_milestone[Z_AXIS] = z; | |
cef9acea | 756 | |
a6bbe768 | 757 | // now set the actuator positions to match |
807b9b57 | 758 | ActuatorCoordinates actuator_pos; |
c2f7c261 | 759 | arm_solution->cartesian_to_actuator(this->last_machine_position, actuator_pos); |
807b9b57 | 760 | for (size_t i = 0; i < actuators.size(); i++) |
cef9acea JM |
761 | actuators[i]->change_last_milestone(actuator_pos[i]); |
762 | } | |
763 | ||
807b9b57 | 764 | // Reset the position for an axis (used in homing) |
4710532a JM |
765 | void Robot::reset_axis_position(float position, int axis) |
766 | { | |
c2f7c261 JM |
767 | last_milestone[axis] = position; |
768 | reset_axis_position(last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); | |
4cff3ded AW |
769 | } |
770 | ||
932a3995 | 771 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
93f20a8c JM |
772 | // then sets the axis positions to match. currently only called from Endstops.cpp |
773 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) | |
586cc733 | 774 | { |
93f20a8c JM |
775 | for (size_t i = 0; i < actuators.size(); i++) |
776 | actuators[i]->change_last_milestone(ac[i]); | |
586cc733 JM |
777 | |
778 | // now correct axis positions then recorrect actuator to account for rounding | |
779 | reset_position_from_current_actuator_position(); | |
780 | } | |
781 | ||
a6bbe768 | 782 | // Use FK to find out where actuator is and reset to match |
728477c4 JM |
783 | void Robot::reset_position_from_current_actuator_position() |
784 | { | |
807b9b57 JM |
785 | ActuatorCoordinates actuator_pos; |
786 | for (size_t i = 0; i < actuators.size(); i++) { | |
58587001 | 787 | // NOTE actuator::current_position is curently NOT the same as actuator::last_milestone after an abrupt abort |
807b9b57 JM |
788 | actuator_pos[i] = actuators[i]->get_current_position(); |
789 | } | |
58587001 JM |
790 | |
791 | // discover machine position from where actuators actually are | |
c2f7c261 JM |
792 | arm_solution->actuator_to_cartesian(actuator_pos, last_machine_position); |
793 | // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone | |
794 | memcpy(last_milestone, last_machine_position, sizeof last_milestone); | |
cf91d4f3 | 795 | |
58587001 JM |
796 | // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate. |
797 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call | |
932a3995 | 798 | // to get everything in perfect sync. |
7baae81a JM |
799 | arm_solution->cartesian_to_actuator(last_machine_position, actuator_pos); |
800 | for (size_t i = 0; i < actuators.size(); i++) | |
801 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
728477c4 | 802 | } |
edac9072 | 803 | |
c2f7c261 JM |
804 | // Convert target (in machine coordinates) from millimeters to steps, and append this to the planner |
805 | // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes | |
806 | // all transforms and is what we actually convert to actuator positions | |
350c8a60 | 807 | bool Robot::append_milestone(Gcode * gcode, const float target[], float rate_mm_s) |
df6a30f2 | 808 | { |
1ad23cd3 | 809 | float deltas[3]; |
df6a30f2 | 810 | float unit_vec[3]; |
807b9b57 | 811 | ActuatorCoordinates actuator_pos; |
03b01bac | 812 | float transformed_target[3]; // adjust target for bed compensation and WCS offsets |
df6a30f2 MM |
813 | float millimeters_of_travel; |
814 | ||
3632a517 JM |
815 | // unity transform by default |
816 | memcpy(transformed_target, target, sizeof(transformed_target)); | |
5e45206a | 817 | |
350c8a60 JM |
818 | // check function pointer and call if set to transform the target to compensate for bed |
819 | if(compensationTransform) { | |
820 | // some compensation strategies can transform XYZ, some just change Z | |
821 | compensationTransform(transformed_target); | |
00e607c7 | 822 | } |
807b9b57 | 823 | |
a6bbe768 | 824 | // find distance moved by each axis, use transformed target from the current machine position |
03b01bac | 825 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
c2f7c261 | 826 | deltas[axis] = transformed_target[axis] - last_machine_position[axis]; |
3632a517 | 827 | } |
aab6cbba | 828 | |
edac9072 | 829 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 830 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 | 831 | |
a6bbe768 JM |
832 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
833 | // as the last milestone won't be updated we do not actually lose any moves as they will be accounted for in the next move | |
350c8a60 | 834 | if(millimeters_of_travel < 0.00001F) return false; |
a6bbe768 JM |
835 | |
836 | // this is the machine position | |
c2f7c261 | 837 | memcpy(this->last_machine_position, transformed_target, sizeof(this->last_machine_position)); |
a6bbe768 | 838 | |
df6a30f2 MM |
839 | // find distance unit vector |
840 | for (int i = 0; i < 3; i++) | |
841 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
842 | ||
843 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
844 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
845 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 846 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
847 | |
848 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 849 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
850 | } |
851 | } | |
4cff3ded | 852 | |
c2f7c261 JM |
853 | // find actuator position given the machine position, use actual adjusted target |
854 | arm_solution->cartesian_to_actuator( this->last_machine_position, actuator_pos ); | |
df6a30f2 | 855 | |
03b01bac | 856 | float isecs = rate_mm_s / millimeters_of_travel; |
df6a30f2 | 857 | // check per-actuator speed limits |
807b9b57 | 858 | for (size_t actuator = 0; actuator < actuators.size(); actuator++) { |
928467c0 | 859 | float actuator_rate = fabsf(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * isecs; |
03b01bac | 860 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 861 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
03b01bac | 862 | isecs = rate_mm_s / millimeters_of_travel; |
928467c0 JM |
863 | } |
864 | } | |
865 | ||
edac9072 | 866 | // Append the block to the planner |
da947c62 | 867 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 868 | |
350c8a60 | 869 | return true; |
4cff3ded AW |
870 | } |
871 | ||
edac9072 | 872 | // Append a move to the queue ( cutting it into segments if needed ) |
c2f7c261 | 873 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s ) |
4710532a | 874 | { |
c2f7c261 | 875 | // Find out the distance for this move in MCS |
a9d299ab | 876 | // 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 |
2791c829 | 877 | gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - last_milestone[Z_AXIS], 2 )); |
4cff3ded | 878 | |
3b4b05b8 | 879 | // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves ) |
350c8a60 | 880 | if( gcode->millimeters_of_travel < 0.00001F ) return false; |
436a2cd1 | 881 | |
edac9072 | 882 | // Mark the gcode as having a known distance |
5dcb2ff3 | 883 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 884 | |
d2adef5e JM |
885 | // if we have volumetric limits enabled we calculate the volume for this move and limit the rate if it exceeds the stated limit |
886 | // Note we need to be using volumetric extrusion for this to work as Ennn is in mm³ not mm | |
887 | // We also check we are not exceeding the E max_speed for the current extruder | |
888 | // We ask Extruder to do all the work, but as Extruder won't even see this gcode until after it has been planned | |
889 | // we need to ask it now passing in the relevant data. | |
890 | // NOTE we need to do this before we segment the line (for deltas) | |
891 | if(gcode->has_letter('E')) { | |
892 | float data[2]; | |
03b01bac JM |
893 | data[0] = gcode->get_value('E'); // E target (maybe absolute or relative) |
894 | data[1] = rate_mm_s / gcode->millimeters_of_travel; // inverted seconds for the move | |
d2adef5e JM |
895 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
896 | rate_mm_s *= data[1]; | |
897 | //THEKERNEL->streams->printf("Extruder has changed the rate by %f to %f\n", data[1], rate_mm_s); | |
898 | } | |
899 | } | |
900 | ||
c2f7c261 | 901 | // We cut the line into smaller segments. This is only needed on a cartesian robot for zgrid, but always necessary for robots with rotational axes like Deltas. |
3b4b05b8 JM |
902 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
903 | // 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 | 904 | uint16_t segments; |
5984acdf | 905 | |
778093ce JM |
906 | if(this->disable_segmentation) { |
907 | segments= 1; | |
908 | ||
909 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
910 | // enabled if set to something > 1, it is set to 0.0 by default |
911 | // segment based on current speed and requested segments per second | |
912 | // the faster the travel speed the fewer segments needed | |
913 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 914 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
9502f9d5 | 915 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 916 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 917 | |
4710532a JM |
918 | } else { |
919 | if(this->mm_per_line_segment == 0.0F) { | |
920 | segments = 1; // don't split it up | |
921 | } else { | |
9502f9d5 | 922 | segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
923 | } |
924 | } | |
5984acdf | 925 | |
350c8a60 | 926 | bool moved= false; |
4710532a | 927 | if (segments > 1) { |
2ba859c9 MM |
928 | // A vector to keep track of the endpoint of each segment |
929 | float segment_delta[3]; | |
1b5776bf | 930 | float segment_end[3]{last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]}; |
2ba859c9 MM |
931 | |
932 | // How far do we move each segment? | |
9fff6045 | 933 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2791c829 | 934 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 935 | |
c8e0fb15 MM |
936 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
937 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 938 | for (int i = 1; i < segments; i++) { |
350c8a60 | 939 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
4710532a | 940 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
1b5776bf | 941 | segment_end[axis] += segment_delta[axis]; |
2ba859c9 MM |
942 | |
943 | // Append the end of this segment to the queue | |
350c8a60 JM |
944 | bool b= this->append_milestone(gcode, segment_end, rate_mm_s); |
945 | moved= moved || b; | |
2ba859c9 | 946 | } |
4cff3ded | 947 | } |
5984acdf MM |
948 | |
949 | // Append the end of this full move to the queue | |
350c8a60 | 950 | if(this->append_milestone(gcode, target, rate_mm_s)) moved= true; |
2134bcf2 | 951 | |
a6bbe768 | 952 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 953 | |
350c8a60 JM |
954 | if(moved) { |
955 | // if adding these blocks didn't start executing, do that now | |
956 | THEKERNEL->conveyor->ensure_running(); | |
957 | } | |
958 | ||
959 | return moved; | |
4cff3ded AW |
960 | } |
961 | ||
4cff3ded | 962 | |
edac9072 | 963 | // Append an arc to the queue ( cutting it into segments as needed ) |
350c8a60 | 964 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 965 | { |
aab6cbba | 966 | |
edac9072 | 967 | // Scary math |
2ba859c9 MM |
968 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
969 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
970 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
971 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
972 | float r_axis1 = -offset[this->plane_axis_1]; | |
973 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
974 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 975 | |
51871fb8 | 976 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 977 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
03b01bac | 978 | float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
5fa0c173 | 979 | if (is_clockwise) { // Correct atan2 output per direction |
03b01bac | 980 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2 * M_PI; } |
5fa0c173 | 981 | } else { |
03b01bac | 982 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2 * M_PI; } |
4710532a | 983 | } |
aab6cbba | 984 | |
edac9072 | 985 | // Find the distance for this gcode |
4710532a | 986 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 987 | |
edac9072 | 988 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
3b4b05b8 | 989 | if( gcode->millimeters_of_travel < 0.00001F ) { |
350c8a60 | 990 | return false; |
4710532a | 991 | } |
5dcb2ff3 | 992 | |
edac9072 | 993 | // Mark the gcode as having a known distance |
d149c730 | 994 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
995 | |
996 | // Figure out how many segments for this gcode | |
c8f4ee77 | 997 | uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 998 | |
4710532a JM |
999 | float theta_per_segment = angular_travel / segments; |
1000 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
1001 | |
1002 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1003 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1004 | r_T = [cos(phi) -sin(phi); | |
1005 | sin(phi) cos(phi] * r ; | |
1006 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1007 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1008 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1009 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 1010 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
1011 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
1012 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1013 | ||
1014 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1015 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1016 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1017 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1018 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1019 | issue for CNC machines with the single precision Arduino calculations. | |
1020 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1021 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1022 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1023 | This is important when there are successive arc motions. | |
1024 | */ | |
1025 | // Vector rotation matrix values | |
4710532a | 1026 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 1027 | float sin_T = theta_per_segment; |
aab6cbba | 1028 | |
1ad23cd3 MM |
1029 | float arc_target[3]; |
1030 | float sin_Ti; | |
1031 | float cos_Ti; | |
1032 | float r_axisi; | |
aab6cbba AW |
1033 | uint16_t i; |
1034 | int8_t count = 0; | |
1035 | ||
1036 | // Initialize the linear axis | |
2ba859c9 | 1037 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 1038 | |
350c8a60 | 1039 | bool moved= false; |
4710532a | 1040 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
350c8a60 | 1041 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
aab6cbba | 1042 | |
b66fb830 | 1043 | if (count < this->arc_correction ) { |
4710532a JM |
1044 | // Apply vector rotation matrix |
1045 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1046 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1047 | r_axis1 = r_axisi; | |
1048 | count++; | |
aab6cbba | 1049 | } else { |
4710532a JM |
1050 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
1051 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1052 | cos_Ti = cosf(i * theta_per_segment); | |
1053 | sin_Ti = sinf(i * theta_per_segment); | |
1054 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1055 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1056 | count = 0; | |
aab6cbba AW |
1057 | } |
1058 | ||
1059 | // Update arc_target location | |
1060 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1061 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1062 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
1063 | |
1064 | // Append this segment to the queue | |
350c8a60 JM |
1065 | bool b= this->append_milestone(gcode, arc_target, this->feed_rate / seconds_per_minute); |
1066 | moved= moved || b; | |
aab6cbba | 1067 | } |
edac9072 | 1068 | |
aab6cbba | 1069 | // Ensure last segment arrives at target location. |
350c8a60 JM |
1070 | if(this->append_milestone(gcode, target, this->feed_rate / seconds_per_minute)) moved= true; |
1071 | ||
1072 | return moved; | |
aab6cbba AW |
1073 | } |
1074 | ||
edac9072 | 1075 | // Do the math for an arc and add it to the queue |
350c8a60 | 1076 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[]) |
4710532a | 1077 | { |
aab6cbba AW |
1078 | |
1079 | // Find the radius | |
13addf09 | 1080 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1081 | |
1082 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1083 | bool is_clockwise = false; | |
4710532a JM |
1084 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
1085 | is_clockwise = true; | |
1086 | } | |
aab6cbba AW |
1087 | |
1088 | // Append arc | |
350c8a60 | 1089 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1090 | } |
1091 | ||
1092 | ||
4710532a JM |
1093 | float Robot::theta(float x, float y) |
1094 | { | |
1095 | float t = atanf(x / fabs(y)); | |
1096 | if (y > 0) { | |
1097 | return(t); | |
1098 | } else { | |
1099 | if (t > 0) { | |
1100 | return(M_PI - t); | |
1101 | } else { | |
1102 | return(-M_PI - t); | |
1103 | } | |
1104 | } | |
4cff3ded AW |
1105 | } |
1106 | ||
4710532a JM |
1107 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1108 | { | |
4cff3ded AW |
1109 | this->plane_axis_0 = axis_0; |
1110 | this->plane_axis_1 = axis_1; | |
1111 | this->plane_axis_2 = axis_2; | |
1112 | } | |
1113 | ||
fae93525 | 1114 | void Robot::clearToolOffset() |
4710532a | 1115 | { |
c2f7c261 | 1116 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1117 | } |
1118 | ||
1119 | void Robot::setToolOffset(const float offset[3]) | |
1120 | { | |
c2f7c261 | 1121 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1122 | } |
1123 | ||
0ec2f63a JM |
1124 | float Robot::get_feed_rate() const |
1125 | { | |
1126 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1127 | } |