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" | |
10 | #include <string> | |
11 | using std::string; | |
4cff3ded AW |
12 | #include <math.h> |
13 | #include "Planner.h" | |
3fceb8eb | 14 | #include "Conveyor.h" |
4cff3ded AW |
15 | #include "Robot.h" |
16 | #include "libs/nuts_bolts.h" | |
feb204be | 17 | #include "libs/Pin.h" |
670fa10b | 18 | #include "libs/StepperMotor.h" |
4cff3ded | 19 | #include "../communication/utils/Gcode.h" |
5647f709 | 20 | #include "PublicDataRequest.h" |
4cff3ded AW |
21 | #include "arm_solutions/BaseSolution.h" |
22 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 23 | #include "arm_solutions/RotatableCartesianSolution.h" |
4e04bcd3 | 24 | #include "arm_solutions/RostockSolution.h" |
2c7ab192 | 25 | #include "arm_solutions/JohannKosselSolution.h" |
bdaaa75d | 26 | #include "arm_solutions/HBotSolution.h" |
4cff3ded | 27 | |
78d0e16a MM |
28 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
29 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
30 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
31 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
32 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
33 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
34 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
35 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
36 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
37 | |
38 | // arm solutions | |
78d0e16a MM |
39 | #define arm_solution_checksum CHECKSUM("arm_solution") |
40 | #define cartesian_checksum CHECKSUM("cartesian") | |
41 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
42 | #define rostock_checksum CHECKSUM("rostock") | |
43 | #define delta_checksum CHECKSUM("delta") | |
44 | #define hbot_checksum CHECKSUM("hbot") | |
45 | #define corexy_checksum CHECKSUM("corexy") | |
46 | #define kossel_checksum CHECKSUM("kossel") | |
47 | ||
48 | // stepper motor stuff | |
49 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
50 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
51 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
52 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
53 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
54 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
55 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
56 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
57 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 58 | |
78d0e16a MM |
59 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
60 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
61 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
62 | ||
63 | // new-style actuator stuff | |
64 | #define actuator_checksum CHEKCSUM("actuator") | |
65 | ||
66 | #define step_pin_checksum CHECKSUM("step_pin") | |
67 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
68 | #define en_pin_checksum CHECKSUM("en_pin") | |
69 | ||
70 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
71 | ||
72 | #define alpha_checksum CHECKSUM("alpha") | |
73 | #define beta_checksum CHECKSUM("beta") | |
74 | #define gamma_checksum CHECKSUM("gamma") | |
75 | ||
43424972 | 76 | |
edac9072 AW |
77 | // 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 |
78 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
41fd89e0 | 79 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
edac9072 | 80 | |
4cff3ded | 81 | Robot::Robot(){ |
a1b7e9f0 | 82 | this->inch_mode = false; |
0e8b102e | 83 | this->absolute_mode = true; |
df27a6a3 | 84 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded AW |
85 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
86 | clear_vector(this->current_position); | |
df27a6a3 | 87 | clear_vector(this->last_milestone); |
0b804a41 | 88 | this->arm_solution = NULL; |
7369629d | 89 | seconds_per_minute = 60.0; |
4cff3ded AW |
90 | } |
91 | ||
92 | //Called when the module has just been loaded | |
93 | void Robot::on_module_loaded() { | |
476dcb96 | 94 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded | 95 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
96 | this->register_for_event(ON_GET_PUBLIC_DATA); |
97 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
4cff3ded AW |
98 | |
99 | // Configuration | |
da24d6ae AW |
100 | this->on_config_reload(this); |
101 | } | |
102 | ||
103 | void Robot::on_config_reload(void* argument){ | |
5984acdf | 104 | |
edac9072 AW |
105 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
106 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
107 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 108 | // Here we read the config to find out which arm solution to use |
0b804a41 | 109 | if (this->arm_solution) delete this->arm_solution; |
314ab8f7 | 110 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 111 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 112 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 113 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d L |
114 | |
115 | }else if(solution_checksum == rostock_checksum) { | |
314ab8f7 | 116 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 117 | |
2c7ab192 | 118 | }else if(solution_checksum == kossel_checksum) { |
314ab8f7 | 119 | this->arm_solution = new JohannKosselSolution(THEKERNEL->config); |
2c7ab192 | 120 | |
d149c730 | 121 | }else if(solution_checksum == delta_checksum) { |
4a0c8e14 | 122 | // place holder for now |
314ab8f7 | 123 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 124 | |
b73a756d | 125 | }else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 126 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 127 | |
d149c730 | 128 | }else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 129 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 130 | |
d149c730 | 131 | }else{ |
314ab8f7 | 132 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 133 | } |
73a4e3c0 | 134 | |
0b804a41 | 135 | |
314ab8f7 MM |
136 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(100 )->as_number() / 60; |
137 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default(100 )->as_number() / 60; | |
1ad23cd3 MM |
138 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default(0.0f )->as_number(); |
139 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
140 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default(0.5f )->as_number(); | |
314ab8f7 | 141 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default(5 )->as_number(); |
78d0e16a | 142 | |
314ab8f7 MM |
143 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000 )->as_number(); |
144 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000 )->as_number(); | |
145 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default(300 )->as_number(); | |
feb204be | 146 | |
78d0e16a MM |
147 | Pin alpha_step_pin; |
148 | Pin alpha_dir_pin; | |
149 | Pin alpha_en_pin; | |
150 | Pin beta_step_pin; | |
151 | Pin beta_dir_pin; | |
152 | Pin beta_en_pin; | |
153 | Pin gamma_step_pin; | |
154 | Pin gamma_dir_pin; | |
155 | Pin gamma_en_pin; | |
156 | ||
157 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); | |
158 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
159 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
160 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
161 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); | |
162 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
163 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
164 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); | |
165 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
166 | ||
a84f0186 MM |
167 | float steps_per_mm[3] = { |
168 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), | |
169 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
170 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
171 | }; | |
172 | ||
78d0e16a MM |
173 | // TODO: delete or detect old steppermotors |
174 | // Make our 3 StepperMotors | |
175 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(&alpha_step_pin,&alpha_dir_pin,&alpha_en_pin) ); | |
176 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(&beta_step_pin, &beta_dir_pin, &beta_en_pin ) ); | |
177 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(&gamma_step_pin,&gamma_dir_pin,&gamma_en_pin) ); | |
178 | ||
a84f0186 MM |
179 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
180 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
181 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
182 | ||
78d0e16a MM |
183 | actuators.clear(); |
184 | actuators.push_back(alpha_stepper_motor); | |
185 | actuators.push_back(beta_stepper_motor); | |
186 | actuators.push_back(gamma_stepper_motor); | |
4cff3ded AW |
187 | } |
188 | ||
5647f709 | 189 | void Robot::on_get_public_data(void* argument){ |
b55cfff1 JM |
190 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
191 | ||
192 | if(!pdr->starts_with(robot_checksum)) return; | |
193 | ||
194 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 195 | static float return_data; |
58d6d841 | 196 | return_data= 100*this->seconds_per_minute/60; |
b55cfff1 JM |
197 | pdr->set_data_ptr(&return_data); |
198 | pdr->set_taken(); | |
98761c28 | 199 | |
b55cfff1 | 200 | }else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 201 | static float return_data[3]; |
b55cfff1 JM |
202 | return_data[0]= from_millimeters(this->current_position[0]); |
203 | return_data[1]= from_millimeters(this->current_position[1]); | |
204 | return_data[2]= from_millimeters(this->current_position[2]); | |
205 | ||
206 | pdr->set_data_ptr(&return_data); | |
98761c28 | 207 | pdr->set_taken(); |
b55cfff1 | 208 | } |
5647f709 JM |
209 | } |
210 | ||
211 | void Robot::on_set_public_data(void* argument){ | |
b55cfff1 | 212 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
5647f709 | 213 | |
b55cfff1 | 214 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 215 | |
b55cfff1 | 216 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 217 | // NOTE do not use this while printing! |
1ad23cd3 | 218 | float t= *static_cast<float*>(pdr->get_data_ptr()); |
98761c28 JM |
219 | // enforce minimum 10% speed |
220 | if (t < 10.0) t= 10.0; | |
221 | ||
35089dc7 | 222 | this->seconds_per_minute= t * 0.6; |
b55cfff1 JM |
223 | pdr->set_taken(); |
224 | } | |
5647f709 JM |
225 | } |
226 | ||
4cff3ded | 227 | //A GCode has been received |
edac9072 | 228 | //See if the current Gcode line has some orders for us |
4cff3ded AW |
229 | void Robot::on_gcode_received(void * argument){ |
230 | Gcode* gcode = static_cast<Gcode*>(argument); | |
6bc4a00a | 231 | |
4cff3ded AW |
232 | //Temp variables, constant properties are stored in the object |
233 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 234 | this->motion_mode = -1; |
4cff3ded AW |
235 | |
236 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly | |
3c4f2dd8 AW |
237 | if( gcode->has_g){ |
238 | switch( gcode->g ){ | |
74b6303c DD |
239 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
240 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
241 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
242 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
243 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; | |
244 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
245 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
246 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
247 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
248 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
249 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 250 | case 92: { |
6bc4a00a | 251 | if(gcode->get_num_args() == 0){ |
8a23b271 | 252 | clear_vector(this->last_milestone); |
6bc4a00a | 253 | }else{ |
eaf8a8a8 BG |
254 | for (char letter = 'X'; letter <= 'Z'; letter++){ |
255 | if ( gcode->has_letter(letter) ) | |
6bc4a00a | 256 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); |
eaf8a8a8 | 257 | } |
6bc4a00a | 258 | } |
1ad23cd3 | 259 | memcpy(this->current_position, this->last_milestone, sizeof(float)*3); // current_position[] = last_milestone[]; |
78d0e16a MM |
260 | |
261 | // TODO: handle any number of actuators | |
262 | float actuator_pos[3]; | |
263 | arm_solution->cartesian_to_actuator(current_position, actuator_pos); | |
264 | ||
265 | for (int i = 0; i < 3; i++) | |
266 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
267 | ||
74b6303c | 268 | gcode->mark_as_taken(); |
78d0e16a | 269 | return; |
6bc4a00a MM |
270 | } |
271 | } | |
3c4f2dd8 | 272 | }else if( gcode->has_m){ |
33e4cc02 | 273 | switch( gcode->m ){ |
0fb5b438 | 274 | case 92: // M92 - set steps per mm |
0fb5b438 | 275 | if (gcode->has_letter('X')) |
78d0e16a | 276 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 277 | if (gcode->has_letter('Y')) |
78d0e16a | 278 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 279 | if (gcode->has_letter('Z')) |
78d0e16a | 280 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
281 | if (gcode->has_letter('F')) |
282 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
283 | |
284 | 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 | 285 | gcode->add_nl = true; |
74b6303c | 286 | gcode->mark_as_taken(); |
0fb5b438 | 287 | return; |
58d6d841 | 288 | case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ", |
bce9410e MM |
289 | from_millimeters(this->current_position[0]), |
290 | from_millimeters(this->current_position[1]), | |
291 | from_millimeters(this->current_position[2])); | |
6989211c | 292 | gcode->add_nl = true; |
74b6303c | 293 | gcode->mark_as_taken(); |
6989211c | 294 | return; |
33e4cc02 | 295 | |
494dc541 | 296 | // TODO I'm not sure if the following is safe to do here, or should it go on the block queue? |
d4ee6ee2 JM |
297 | case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported |
298 | gcode->mark_as_taken(); | |
299 | if (gcode->has_letter('S')) | |
300 | { | |
1ad23cd3 | 301 | float acc= gcode->get_value('S') * 60 * 60; // mm/min^2 |
d4ee6ee2 JM |
302 | // enforce minimum |
303 | if (acc < 1.0) | |
304 | acc = 1.0; | |
314ab8f7 | 305 | THEKERNEL->planner->acceleration= acc; |
d4ee6ee2 JM |
306 | } |
307 | break; | |
308 | ||
8b69c90d | 309 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
d4ee6ee2 JM |
310 | gcode->mark_as_taken(); |
311 | if (gcode->has_letter('X')) | |
312 | { | |
1ad23cd3 | 313 | float jd= gcode->get_value('X'); |
d4ee6ee2 | 314 | // enforce minimum |
8b69c90d JM |
315 | if (jd < 0.0F) |
316 | jd = 0.0F; | |
314ab8f7 | 317 | THEKERNEL->planner->junction_deviation= jd; |
d4ee6ee2 | 318 | } |
8b69c90d JM |
319 | if (gcode->has_letter('S')) |
320 | { | |
321 | float mps= gcode->get_value('S'); | |
322 | // enforce minimum | |
323 | if (mps < 0.0F) | |
324 | mps = 0.0F; | |
325 | THEKERNEL->planner->minimum_planner_speed= mps; | |
326 | } | |
d4ee6ee2 | 327 | break; |
98761c28 | 328 | |
7369629d | 329 | case 220: // M220 - speed override percentage |
74b6303c | 330 | gcode->mark_as_taken(); |
7369629d MM |
331 | if (gcode->has_letter('S')) |
332 | { | |
1ad23cd3 | 333 | float factor = gcode->get_value('S'); |
98761c28 JM |
334 | // enforce minimum 10% speed |
335 | if (factor < 10.0) | |
336 | factor = 10.0; | |
7369629d MM |
337 | seconds_per_minute = factor * 0.6; |
338 | } | |
b4f56013 | 339 | break; |
ec4773e5 | 340 | |
494dc541 JM |
341 | case 400: // wait until all moves are done up to this point |
342 | gcode->mark_as_taken(); | |
314ab8f7 | 343 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
344 | break; |
345 | ||
33e4cc02 JM |
346 | case 500: // M500 saves some volatile settings to config override file |
347 | case 503: // M503 just prints the settings | |
78d0e16a | 348 | 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); |
314ab8f7 | 349 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration/3600); |
8b69c90d | 350 | gcode->stream->printf(";X- Junction Deviation, S - Minimum Planner speed:\nM205 X%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
33e4cc02 JM |
351 | gcode->mark_as_taken(); |
352 | break; | |
353 | ||
ec4773e5 JM |
354 | case 665: // M665 set optional arm solution variables based on arm solution |
355 | gcode->mark_as_taken(); | |
356 | // the parameter args could be any letter so try each one | |
357 | for(char c='A';c<='Z';c++) { | |
1ad23cd3 | 358 | float v; |
ec4773e5 JM |
359 | bool supported= arm_solution->get_optional(c, &v); // retrieve current value if supported |
360 | ||
361 | if(supported && gcode->has_letter(c)) { // set new value if supported | |
362 | v= gcode->get_value(c); | |
363 | arm_solution->set_optional(c, v); | |
364 | } | |
365 | if(supported) { // print all current values of supported options | |
5523c05d JM |
366 | gcode->stream->printf("%c %8.3f ", c, v); |
367 | gcode->add_nl = true; | |
ec4773e5 JM |
368 | } |
369 | } | |
370 | break; | |
371 | ||
6989211c | 372 | } |
494dc541 JM |
373 | } |
374 | ||
c83887ea MM |
375 | if( this->motion_mode < 0) |
376 | return; | |
6bc4a00a | 377 | |
4cff3ded | 378 | //Get parameters |
1ad23cd3 | 379 | float target[3], offset[3]; |
c2885de8 | 380 | clear_vector(offset); |
6bc4a00a | 381 | |
4cff3ded | 382 | memcpy(target, this->current_position, sizeof(target)); //default to last target |
6bc4a00a | 383 | |
c2885de8 JM |
384 | for(char letter = 'I'; letter <= 'K'; letter++){ |
385 | if( gcode->has_letter(letter) ){ | |
386 | offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); | |
387 | } | |
388 | } | |
389 | for(char letter = 'X'; letter <= 'Z'; letter++){ | |
390 | if( gcode->has_letter(letter) ){ | |
391 | target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); | |
392 | } | |
393 | } | |
6bc4a00a | 394 | |
7369629d MM |
395 | if( gcode->has_letter('F') ) |
396 | { | |
397 | if( this->motion_mode == MOTION_MODE_SEEK ) | |
c2885de8 | 398 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F; |
7369629d | 399 | else |
c2885de8 | 400 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F; |
7369629d | 401 | } |
6bc4a00a | 402 | |
4cff3ded AW |
403 | //Perform any physical actions |
404 | switch( next_action ){ | |
405 | case NEXT_ACTION_DEFAULT: | |
406 | switch(this->motion_mode){ | |
407 | case MOTION_MODE_CANCEL: break; | |
436a2cd1 AW |
408 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; |
409 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; | |
df27a6a3 | 410 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
4cff3ded AW |
411 | } |
412 | break; | |
413 | } | |
13e4a3f9 | 414 | |
4cff3ded AW |
415 | // As far as the parser is concerned, the position is now == target. In reality the |
416 | // motion control system might still be processing the action and the real tool position | |
417 | // in any intermediate location. | |
c2885de8 | 418 | memcpy(this->current_position, target, sizeof(this->current_position)); // this->position[] = target[]; |
4cff3ded | 419 | |
edac9072 AW |
420 | } |
421 | ||
5984acdf | 422 | // We received a new gcode, and one of the functions |
edac9072 AW |
423 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
424 | // and continue | |
425 | void Robot::distance_in_gcode_is_known(Gcode* gcode){ | |
426 | ||
427 | //If the queue is empty, execute immediatly, otherwise attach to the last added block | |
e0ee24ed | 428 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
429 | } |
430 | ||
431 | // Reset the position for all axes ( used in homing and G92 stuff ) | |
1ad23cd3 | 432 | void Robot::reset_axis_position(float position, int axis) { |
edac9072 | 433 | this->last_milestone[axis] = this->current_position[axis] = position; |
78d0e16a | 434 | actuators[axis]->change_last_milestone(position); |
4cff3ded AW |
435 | } |
436 | ||
edac9072 | 437 | |
4cff3ded | 438 | // Convert target from millimeters to steps, and append this to the planner |
1ad23cd3 | 439 | void Robot::append_milestone( float target[], float rate ){ |
78d0e16a | 440 | float actuator_pos[3]; //Holds the result of the conversion |
6bc4a00a | 441 | |
edac9072 | 442 | // We use an arm solution object so exotic arm solutions can be used and neatly abstracted |
78d0e16a | 443 | this->arm_solution->cartesian_to_actuator( target, actuator_pos ); |
6bc4a00a | 444 | |
1ad23cd3 | 445 | float deltas[3]; |
aab6cbba AW |
446 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];} |
447 | ||
edac9072 | 448 | // Compute how long this move moves, so we can attach it to the block for later use |
13addf09 | 449 | float millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
7b470506 | 450 | |
edac9072 | 451 | // Do not move faster than the configured limits |
7b470506 | 452 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){ |
df27a6a3 | 453 | if( this->max_speeds[axis] > 0 ){ |
1ad23cd3 | 454 | float axis_speed = ( fabs(deltas[axis]) / ( millimeters_of_travel / rate )) * seconds_per_minute; |
df27a6a3 MM |
455 | if( axis_speed > this->max_speeds[axis] ){ |
456 | rate = rate * ( this->max_speeds[axis] / axis_speed ); | |
436a2cd1 | 457 | } |
7b470506 AW |
458 | } |
459 | } | |
4cff3ded | 460 | |
edac9072 | 461 | // Append the block to the planner |
78d0e16a | 462 | THEKERNEL->planner->append_block( actuator_pos, rate * seconds_per_minute, millimeters_of_travel, deltas ); |
4cff3ded | 463 | |
edac9072 | 464 | // Update the last_milestone to the current target for the next time we use last_milestone |
c2885de8 | 465 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
466 | |
467 | } | |
468 | ||
edac9072 | 469 | // Append a move to the queue ( cutting it into segments if needed ) |
1ad23cd3 | 470 | void Robot::append_line(Gcode* gcode, float target[], float rate ){ |
4cff3ded | 471 | |
edac9072 | 472 | // Find out the distance for this gcode |
13addf09 | 473 | gcode->millimeters_of_travel = sqrtf( pow( target[X_AXIS]-this->current_position[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->current_position[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->current_position[Z_AXIS], 2 ) ); |
4cff3ded | 474 | |
edac9072 | 475 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
c2885de8 | 476 | if( gcode->millimeters_of_travel < 0.0001F ){ |
95b4885b JM |
477 | return; |
478 | } | |
436a2cd1 | 479 | |
edac9072 | 480 | // Mark the gcode as having a known distance |
5dcb2ff3 | 481 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 482 | |
4a0c8e14 JM |
483 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
484 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
485 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second 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 | 486 | uint16_t segments; |
5984acdf | 487 | |
c2885de8 | 488 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
489 | // enabled if set to something > 1, it is set to 0.0 by default |
490 | // segment based on current speed and requested segments per second | |
491 | // the faster the travel speed the fewer segments needed | |
492 | // NOTE rate is mm/sec and we take into account any speed override | |
493 | float seconds = 60.0/seconds_per_minute * gcode->millimeters_of_travel / rate; | |
494 | segments= max(1, ceil(this->delta_segments_per_second * seconds)); | |
495 | // TODO if we are only moving in Z on a delta we don't really need to segment at all | |
5984acdf | 496 | |
4a0c8e14 | 497 | }else{ |
c2885de8 | 498 | if(this->mm_per_line_segment == 0.0F){ |
4a0c8e14 JM |
499 | segments= 1; // don't split it up |
500 | }else{ | |
501 | segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); | |
502 | } | |
503 | } | |
5984acdf | 504 | |
4cff3ded | 505 | // A vector to keep track of the endpoint of each segment |
1ad23cd3 | 506 | float temp_target[3]; |
4cff3ded | 507 | //Initialize axes |
c2885de8 | 508 | memcpy( temp_target, this->current_position, sizeof(temp_target)); // temp_target[] = this->current_position[]; |
4cff3ded AW |
509 | |
510 | //For each segment | |
511 | for( int i=0; i<segments-1; i++ ){ | |
df27a6a3 | 512 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } |
5984acdf | 513 | // Append the end of this segment to the queue |
df27a6a3 | 514 | this->append_milestone(temp_target, rate); |
4cff3ded | 515 | } |
5984acdf MM |
516 | |
517 | // Append the end of this full move to the queue | |
4cff3ded | 518 | this->append_milestone(target, rate); |
2134bcf2 MM |
519 | |
520 | // if adding these blocks didn't start executing, do that now | |
521 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
522 | } |
523 | ||
4cff3ded | 524 | |
edac9072 | 525 | // Append an arc to the queue ( cutting it into segments as needed ) |
1ad23cd3 | 526 | void Robot::append_arc(Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ){ |
aab6cbba | 527 | |
edac9072 | 528 | // Scary math |
1ad23cd3 MM |
529 | float center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; |
530 | float center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
531 | float linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; | |
532 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location | |
533 | float r_axis1 = -offset[this->plane_axis_1]; | |
534 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
535 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba AW |
536 | |
537 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
1ad23cd3 | 538 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
aab6cbba AW |
539 | if (angular_travel < 0) { angular_travel += 2*M_PI; } |
540 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
541 | ||
edac9072 | 542 | // Find the distance for this gcode |
13addf09 | 543 | gcode->millimeters_of_travel = hypotf(angular_travel*radius, fabs(linear_travel)); |
436a2cd1 | 544 | |
edac9072 | 545 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
c2885de8 | 546 | if( gcode->millimeters_of_travel < 0.0001F ){ return; } |
5dcb2ff3 | 547 | |
edac9072 | 548 | // Mark the gcode as having a known distance |
d149c730 | 549 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
550 | |
551 | // Figure out how many segments for this gcode | |
436a2cd1 | 552 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
aab6cbba | 553 | |
1ad23cd3 MM |
554 | float theta_per_segment = angular_travel/segments; |
555 | float linear_per_segment = linear_travel/segments; | |
aab6cbba AW |
556 | |
557 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
558 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
559 | r_T = [cos(phi) -sin(phi); | |
560 | sin(phi) cos(phi] * r ; | |
561 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
562 | defined from the circle center to the initial position. Each line segment is formed by successive | |
563 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
564 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 565 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
566 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
567 | tool precision in some cases. Therefore, arc path correction is implemented. | |
568 | ||
569 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
570 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
571 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
572 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
573 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
574 | issue for CNC machines with the single precision Arduino calculations. | |
575 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
576 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
577 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
578 | This is important when there are successive arc motions. | |
579 | */ | |
580 | // Vector rotation matrix values | |
c2885de8 | 581 | float cos_T = 1-0.5F*theta_per_segment*theta_per_segment; // Small angle approximation |
1ad23cd3 | 582 | float sin_T = theta_per_segment; |
aab6cbba | 583 | |
1ad23cd3 MM |
584 | float arc_target[3]; |
585 | float sin_Ti; | |
586 | float cos_Ti; | |
587 | float r_axisi; | |
aab6cbba AW |
588 | uint16_t i; |
589 | int8_t count = 0; | |
590 | ||
591 | // Initialize the linear axis | |
592 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; | |
593 | ||
594 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
595 | ||
b66fb830 | 596 | if (count < this->arc_correction ) { |
aab6cbba AW |
597 | // Apply vector rotation matrix |
598 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
599 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
600 | r_axis1 = r_axisi; | |
601 | count++; | |
602 | } else { | |
603 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
604 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
13addf09 MM |
605 | cos_Ti = cosf(i*theta_per_segment); |
606 | sin_Ti = sinf(i*theta_per_segment); | |
aab6cbba AW |
607 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; |
608 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
609 | count = 0; | |
610 | } | |
611 | ||
612 | // Update arc_target location | |
613 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
614 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
615 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
616 | |
617 | // Append this segment to the queue | |
aab6cbba AW |
618 | this->append_milestone(arc_target, this->feed_rate); |
619 | ||
620 | } | |
edac9072 | 621 | |
aab6cbba AW |
622 | // Ensure last segment arrives at target location. |
623 | this->append_milestone(target, this->feed_rate); | |
624 | } | |
625 | ||
edac9072 | 626 | // Do the math for an arc and add it to the queue |
1ad23cd3 | 627 | void Robot::compute_arc(Gcode* gcode, float offset[], float target[]){ |
aab6cbba AW |
628 | |
629 | // Find the radius | |
13addf09 | 630 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
631 | |
632 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
633 | bool is_clockwise = false; | |
df27a6a3 | 634 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
aab6cbba AW |
635 | |
636 | // Append arc | |
436a2cd1 | 637 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
638 | |
639 | } | |
640 | ||
641 | ||
1ad23cd3 | 642 | float Robot::theta(float x, float y){ |
71c21c73 | 643 | float t = atanf(x/fabs(y)); |
4cff3ded AW |
644 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} |
645 | } | |
646 | ||
647 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
648 | this->plane_axis_0 = axis_0; | |
649 | this->plane_axis_1 = axis_1; | |
650 | this->plane_axis_2 = axis_2; | |
651 | } | |
652 | ||
653 |