Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
aab6cbba | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
4cff3ded AW |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
5673fe39 MM |
10 | |
11 | #include <math.h> | |
4cff3ded AW |
12 | #include <string> |
13 | using std::string; | |
5673fe39 | 14 | |
4cff3ded | 15 | #include "Planner.h" |
3fceb8eb | 16 | #include "Conveyor.h" |
4cff3ded | 17 | #include "Robot.h" |
5673fe39 MM |
18 | #include "nuts_bolts.h" |
19 | #include "Pin.h" | |
20 | #include "StepperMotor.h" | |
21 | #include "Gcode.h" | |
5647f709 | 22 | #include "PublicDataRequest.h" |
66383b80 | 23 | #include "RobotPublicAccess.h" |
4cff3ded AW |
24 | #include "arm_solutions/BaseSolution.h" |
25 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 26 | #include "arm_solutions/RotatableCartesianSolution.h" |
4e04bcd3 | 27 | #include "arm_solutions/RostockSolution.h" |
2c7ab192 | 28 | #include "arm_solutions/JohannKosselSolution.h" |
bdaaa75d | 29 | #include "arm_solutions/HBotSolution.h" |
61134a65 | 30 | #include "StepTicker.h" |
7af0714f JM |
31 | #include "checksumm.h" |
32 | #include "utils.h" | |
8d54c34c | 33 | #include "ConfigValue.h" |
4cff3ded | 34 | |
78d0e16a MM |
35 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
36 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
37 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
38 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
39 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
40 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
41 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
42 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
43 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
44 | |
45 | // arm solutions | |
78d0e16a MM |
46 | #define arm_solution_checksum CHECKSUM("arm_solution") |
47 | #define cartesian_checksum CHECKSUM("cartesian") | |
48 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
49 | #define rostock_checksum CHECKSUM("rostock") | |
50 | #define delta_checksum CHECKSUM("delta") | |
51 | #define hbot_checksum CHECKSUM("hbot") | |
52 | #define corexy_checksum CHECKSUM("corexy") | |
53 | #define kossel_checksum CHECKSUM("kossel") | |
54 | ||
55 | // stepper motor stuff | |
56 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
57 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
58 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
59 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
60 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
61 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
62 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
63 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
64 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 65 | |
78d0e16a MM |
66 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
67 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
68 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
69 | ||
df6a30f2 MM |
70 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
71 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
72 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
73 | ||
74 | ||
78d0e16a MM |
75 | // new-style actuator stuff |
76 | #define actuator_checksum CHEKCSUM("actuator") | |
77 | ||
78 | #define step_pin_checksum CHECKSUM("step_pin") | |
79 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
80 | #define en_pin_checksum CHECKSUM("en_pin") | |
81 | ||
82 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 83 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
84 | |
85 | #define alpha_checksum CHECKSUM("alpha") | |
86 | #define beta_checksum CHECKSUM("beta") | |
87 | #define gamma_checksum CHECKSUM("gamma") | |
88 | ||
43424972 | 89 | |
edac9072 AW |
90 | // 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 |
91 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
41fd89e0 | 92 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
edac9072 | 93 | |
4cff3ded | 94 | Robot::Robot(){ |
a1b7e9f0 | 95 | this->inch_mode = false; |
0e8b102e | 96 | this->absolute_mode = true; |
df27a6a3 | 97 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 98 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 99 | clear_vector(this->last_milestone); |
0b804a41 | 100 | this->arm_solution = NULL; |
da947c62 | 101 | seconds_per_minute = 60.0F; |
4cff3ded AW |
102 | } |
103 | ||
104 | //Called when the module has just been loaded | |
105 | void Robot::on_module_loaded() { | |
476dcb96 | 106 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded | 107 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
108 | this->register_for_event(ON_GET_PUBLIC_DATA); |
109 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
4cff3ded AW |
110 | |
111 | // Configuration | |
da24d6ae AW |
112 | this->on_config_reload(this); |
113 | } | |
114 | ||
115 | void Robot::on_config_reload(void* argument){ | |
5984acdf | 116 | |
edac9072 AW |
117 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
118 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
119 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 120 | // Here we read the config to find out which arm solution to use |
0b804a41 | 121 | if (this->arm_solution) delete this->arm_solution; |
314ab8f7 | 122 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 123 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 124 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 125 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d L |
126 | |
127 | }else if(solution_checksum == rostock_checksum) { | |
314ab8f7 | 128 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 129 | |
2c7ab192 | 130 | }else if(solution_checksum == kossel_checksum) { |
314ab8f7 | 131 | this->arm_solution = new JohannKosselSolution(THEKERNEL->config); |
2c7ab192 | 132 | |
d149c730 | 133 | }else if(solution_checksum == delta_checksum) { |
4a0c8e14 | 134 | // place holder for now |
314ab8f7 | 135 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 136 | |
b73a756d | 137 | }else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 138 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 139 | |
d149c730 | 140 | }else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 141 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 142 | |
d149c730 | 143 | }else{ |
314ab8f7 | 144 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 145 | } |
73a4e3c0 | 146 | |
0b804a41 | 147 | |
da947c62 MM |
148 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
149 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
150 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
1ad23cd3 | 151 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); |
da947c62 MM |
152 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); |
153 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 154 | |
c9ed779d MM |
155 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
156 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
157 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 158 | |
78d0e16a MM |
159 | Pin alpha_step_pin; |
160 | Pin alpha_dir_pin; | |
161 | Pin alpha_en_pin; | |
162 | Pin beta_step_pin; | |
163 | Pin beta_dir_pin; | |
164 | Pin beta_en_pin; | |
165 | Pin gamma_step_pin; | |
166 | Pin gamma_dir_pin; | |
167 | Pin gamma_en_pin; | |
168 | ||
169 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); | |
170 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
171 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
172 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
9c5fa39a MM |
173 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
174 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
78d0e16a MM |
175 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
176 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
177 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 178 | |
a84f0186 MM |
179 | float steps_per_mm[3] = { |
180 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), | |
181 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
182 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
183 | }; | |
184 | ||
78d0e16a MM |
185 | // TODO: delete or detect old steppermotors |
186 | // Make our 3 StepperMotors | |
9c5fa39a MM |
187 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) ); |
188 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) ); | |
189 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) ); | |
78d0e16a | 190 | |
a84f0186 MM |
191 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
192 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
193 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
194 | ||
df6a30f2 MM |
195 | alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
196 | beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F; | |
197 | gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; | |
198 | ||
78d0e16a MM |
199 | actuators.clear(); |
200 | actuators.push_back(alpha_stepper_motor); | |
201 | actuators.push_back(beta_stepper_motor); | |
202 | actuators.push_back(gamma_stepper_motor); | |
975469ad MM |
203 | |
204 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) | |
205 | // so the first move can be correct if homing is not performed | |
206 | float actuator_pos[3]; | |
207 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
208 | for (int i = 0; i < 3; i++) | |
209 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
210 | } |
211 | ||
5647f709 | 212 | void Robot::on_get_public_data(void* argument){ |
b55cfff1 JM |
213 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
214 | ||
215 | if(!pdr->starts_with(robot_checksum)) return; | |
216 | ||
217 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 218 | static float return_data; |
da947c62 | 219 | return_data = 100.0F * 60.0F / seconds_per_minute; |
b55cfff1 JM |
220 | pdr->set_data_ptr(&return_data); |
221 | pdr->set_taken(); | |
98761c28 | 222 | |
b55cfff1 | 223 | }else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 224 | static float return_data[3]; |
2ba859c9 MM |
225 | return_data[0]= from_millimeters(this->last_milestone[0]); |
226 | return_data[1]= from_millimeters(this->last_milestone[1]); | |
227 | return_data[2]= from_millimeters(this->last_milestone[2]); | |
b55cfff1 JM |
228 | |
229 | pdr->set_data_ptr(&return_data); | |
98761c28 | 230 | pdr->set_taken(); |
b55cfff1 | 231 | } |
5647f709 JM |
232 | } |
233 | ||
234 | void Robot::on_set_public_data(void* argument){ | |
b55cfff1 | 235 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
5647f709 | 236 | |
b55cfff1 | 237 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 238 | |
b55cfff1 | 239 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 240 | // NOTE do not use this while printing! |
1ad23cd3 | 241 | float t= *static_cast<float*>(pdr->get_data_ptr()); |
98761c28 | 242 | // enforce minimum 10% speed |
da947c62 | 243 | if (t < 10.0F) t= 10.0F; |
98761c28 | 244 | |
da947c62 | 245 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
b55cfff1 JM |
246 | pdr->set_taken(); |
247 | } | |
5647f709 JM |
248 | } |
249 | ||
4cff3ded | 250 | //A GCode has been received |
edac9072 | 251 | //See if the current Gcode line has some orders for us |
4cff3ded AW |
252 | void Robot::on_gcode_received(void * argument){ |
253 | Gcode* gcode = static_cast<Gcode*>(argument); | |
6bc4a00a | 254 | |
4cff3ded AW |
255 | //Temp variables, constant properties are stored in the object |
256 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 257 | this->motion_mode = -1; |
4cff3ded AW |
258 | |
259 | //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 |
260 | if( gcode->has_g){ |
261 | switch( gcode->g ){ | |
74b6303c DD |
262 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
263 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
264 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
265 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
266 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; | |
267 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
268 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
269 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
270 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
271 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
272 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 273 | case 92: { |
6bc4a00a | 274 | if(gcode->get_num_args() == 0){ |
8a23b271 | 275 | clear_vector(this->last_milestone); |
6bc4a00a | 276 | }else{ |
eaf8a8a8 BG |
277 | for (char letter = 'X'; letter <= 'Z'; letter++){ |
278 | if ( gcode->has_letter(letter) ) | |
6bc4a00a | 279 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); |
eaf8a8a8 | 280 | } |
6bc4a00a | 281 | } |
78d0e16a MM |
282 | |
283 | // TODO: handle any number of actuators | |
284 | float actuator_pos[3]; | |
2ba859c9 | 285 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
78d0e16a MM |
286 | |
287 | for (int i = 0; i < 3; i++) | |
288 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
289 | ||
74b6303c | 290 | gcode->mark_as_taken(); |
78d0e16a | 291 | return; |
6bc4a00a MM |
292 | } |
293 | } | |
3c4f2dd8 | 294 | }else if( gcode->has_m){ |
33e4cc02 | 295 | switch( gcode->m ){ |
0fb5b438 | 296 | case 92: // M92 - set steps per mm |
0fb5b438 | 297 | if (gcode->has_letter('X')) |
78d0e16a | 298 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 299 | if (gcode->has_letter('Y')) |
78d0e16a | 300 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 301 | if (gcode->has_letter('Z')) |
78d0e16a | 302 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
303 | if (gcode->has_letter('F')) |
304 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
305 | |
306 | 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 | 307 | gcode->add_nl = true; |
74b6303c | 308 | gcode->mark_as_taken(); |
0fb5b438 | 309 | return; |
4d9f562f JM |
310 | case 114: |
311 | { | |
312 | char buf[32]; | |
313 | int n= snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f", | |
314 | from_millimeters(this->last_milestone[0]), | |
315 | from_millimeters(this->last_milestone[1]), | |
316 | from_millimeters(this->last_milestone[2])); | |
317 | gcode->txt_after_ok.append(buf, n); | |
318 | gcode->mark_as_taken(); | |
319 | } | |
6989211c | 320 | return; |
33e4cc02 | 321 | |
83488642 JM |
322 | case 203: // M203 Set maximum feedrates in mm/sec |
323 | if (gcode->has_letter('X')) | |
324 | this->max_speeds[X_AXIS]= gcode->get_value('X'); | |
325 | if (gcode->has_letter('Y')) | |
326 | this->max_speeds[Y_AXIS]= gcode->get_value('Y'); | |
327 | if (gcode->has_letter('Z')) | |
328 | this->max_speeds[Z_AXIS]= gcode->get_value('Z'); | |
329 | if (gcode->has_letter('A')) | |
330 | alpha_stepper_motor->max_rate= gcode->get_value('A'); | |
331 | if (gcode->has_letter('B')) | |
332 | beta_stepper_motor->max_rate= gcode->get_value('B'); | |
333 | if (gcode->has_letter('C')) | |
334 | gamma_stepper_motor->max_rate= gcode->get_value('C'); | |
335 | ||
336 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", | |
337 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], | |
338 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
339 | gcode->add_nl = true; | |
340 | gcode->mark_as_taken(); | |
341 | break; | |
342 | ||
d4ee6ee2 JM |
343 | case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported |
344 | gcode->mark_as_taken(); | |
83488642 | 345 | |
d4ee6ee2 JM |
346 | if (gcode->has_letter('S')) |
347 | { | |
83488642 JM |
348 | // TODO for safety so it applies only to following gcodes, maybe a better way to do this? |
349 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
da947c62 | 350 | float acc= gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 351 | // enforce minimum |
da947c62 MM |
352 | if (acc < 1.0F) |
353 | acc = 1.0F; | |
314ab8f7 | 354 | THEKERNEL->planner->acceleration= acc; |
d4ee6ee2 JM |
355 | } |
356 | break; | |
357 | ||
8b69c90d | 358 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
d4ee6ee2 JM |
359 | gcode->mark_as_taken(); |
360 | if (gcode->has_letter('X')) | |
361 | { | |
1ad23cd3 | 362 | float jd= gcode->get_value('X'); |
d4ee6ee2 | 363 | // enforce minimum |
8b69c90d JM |
364 | if (jd < 0.0F) |
365 | jd = 0.0F; | |
314ab8f7 | 366 | THEKERNEL->planner->junction_deviation= jd; |
d4ee6ee2 | 367 | } |
8b69c90d JM |
368 | if (gcode->has_letter('S')) |
369 | { | |
370 | float mps= gcode->get_value('S'); | |
371 | // enforce minimum | |
372 | if (mps < 0.0F) | |
373 | mps = 0.0F; | |
374 | THEKERNEL->planner->minimum_planner_speed= mps; | |
375 | } | |
d4ee6ee2 | 376 | break; |
98761c28 | 377 | |
7369629d | 378 | case 220: // M220 - speed override percentage |
74b6303c | 379 | gcode->mark_as_taken(); |
7369629d MM |
380 | if (gcode->has_letter('S')) |
381 | { | |
1ad23cd3 | 382 | float factor = gcode->get_value('S'); |
98761c28 | 383 | // enforce minimum 10% speed |
da947c62 MM |
384 | if (factor < 10.0F) |
385 | factor = 10.0F; | |
386 | // enforce maximum 10x speed | |
387 | if (factor > 1000.0F) | |
388 | factor = 1000.0F; | |
389 | ||
390 | seconds_per_minute = 6000.0F / factor; | |
7369629d | 391 | } |
b4f56013 | 392 | break; |
ec4773e5 | 393 | |
494dc541 JM |
394 | case 400: // wait until all moves are done up to this point |
395 | gcode->mark_as_taken(); | |
314ab8f7 | 396 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
397 | break; |
398 | ||
33e4cc02 | 399 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 400 | case 503: { // M503 just prints the settings |
78d0e16a | 401 | 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); |
da947c62 | 402 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration); |
8b69c90d | 403 | 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); |
83488642 JM |
404 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
405 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], | |
406 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
b7cd847e JM |
407 | |
408 | // get or save any arm solution specific optional values | |
409 | BaseSolution::arm_options_t options; | |
410 | if(arm_solution->get_optional(options) && !options.empty()) { | |
411 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
412 | for(auto& i : options) { | |
413 | gcode->stream->printf(" %c%1.4f", i.first, i.second); | |
414 | } | |
415 | gcode->stream->printf("\n"); | |
416 | } | |
33e4cc02 JM |
417 | gcode->mark_as_taken(); |
418 | break; | |
b7cd847e | 419 | } |
33e4cc02 | 420 | |
b7cd847e | 421 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ec4773e5 | 422 | gcode->mark_as_taken(); |
b7cd847e JM |
423 | // the parameter args could be any letter except S so ask solution what options it supports |
424 | BaseSolution::arm_options_t options; | |
425 | if(arm_solution->get_optional(options)) { | |
426 | for(auto& i : options) { | |
427 | // foreach optional value | |
428 | char c= i.first; | |
429 | if(gcode->has_letter(c)) { // set new value | |
430 | i.second= gcode->get_value(c); | |
431 | } | |
432 | // print all current values of supported options | |
433 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 434 | gcode->add_nl = true; |
ec4773e5 | 435 | } |
b7cd847e JM |
436 | // set the new options |
437 | arm_solution->set_optional(options); | |
ec4773e5 | 438 | } |
b7cd847e JM |
439 | |
440 | // set delta segments per second, not saved by M500 | |
ec29d378 JM |
441 | if(gcode->has_letter('S')) { |
442 | this->delta_segments_per_second= gcode->get_value('S'); | |
443 | } | |
ec4773e5 | 444 | break; |
b7cd847e | 445 | } |
6989211c | 446 | } |
494dc541 JM |
447 | } |
448 | ||
c83887ea MM |
449 | if( this->motion_mode < 0) |
450 | return; | |
6bc4a00a | 451 | |
4cff3ded | 452 | //Get parameters |
1ad23cd3 | 453 | float target[3], offset[3]; |
c2885de8 | 454 | clear_vector(offset); |
6bc4a00a | 455 | |
2ba859c9 | 456 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
6bc4a00a | 457 | |
c2885de8 JM |
458 | for(char letter = 'I'; letter <= 'K'; letter++){ |
459 | if( gcode->has_letter(letter) ){ | |
460 | offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); | |
461 | } | |
462 | } | |
463 | for(char letter = 'X'; letter <= 'Z'; letter++){ | |
464 | if( gcode->has_letter(letter) ){ | |
465 | target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); | |
466 | } | |
467 | } | |
6bc4a00a | 468 | |
7369629d MM |
469 | if( gcode->has_letter('F') ) |
470 | { | |
471 | if( this->motion_mode == MOTION_MODE_SEEK ) | |
da947c62 | 472 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 473 | else |
da947c62 | 474 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 475 | } |
6bc4a00a | 476 | |
4cff3ded AW |
477 | //Perform any physical actions |
478 | switch( next_action ){ | |
479 | case NEXT_ACTION_DEFAULT: | |
480 | switch(this->motion_mode){ | |
481 | case MOTION_MODE_CANCEL: break; | |
da947c62 MM |
482 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; |
483 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
df27a6a3 | 484 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
4cff3ded AW |
485 | } |
486 | break; | |
487 | } | |
13e4a3f9 | 488 | |
4cff3ded AW |
489 | // As far as the parser is concerned, the position is now == target. In reality the |
490 | // motion control system might still be processing the action and the real tool position | |
491 | // in any intermediate location. | |
2ba859c9 | 492 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->position[] = target[]; |
4cff3ded | 493 | |
edac9072 AW |
494 | } |
495 | ||
5984acdf | 496 | // We received a new gcode, and one of the functions |
edac9072 AW |
497 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
498 | // and continue | |
499 | void Robot::distance_in_gcode_is_known(Gcode* gcode){ | |
500 | ||
501 | //If the queue is empty, execute immediatly, otherwise attach to the last added block | |
e0ee24ed | 502 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
503 | } |
504 | ||
505 | // Reset the position for all axes ( used in homing and G92 stuff ) | |
1ad23cd3 | 506 | void Robot::reset_axis_position(float position, int axis) { |
2ba859c9 | 507 | this->last_milestone[axis] = position; |
29c28822 MM |
508 | |
509 | float actuator_pos[3]; | |
510 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
511 | ||
512 | for (int i = 0; i < 3; i++) | |
513 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
514 | } |
515 | ||
edac9072 | 516 | |
4cff3ded | 517 | // Convert target from millimeters to steps, and append this to the planner |
da947c62 | 518 | void Robot::append_milestone( float target[], float rate_mm_s ) |
df6a30f2 | 519 | { |
1ad23cd3 | 520 | float deltas[3]; |
df6a30f2 MM |
521 | float unit_vec[3]; |
522 | float actuator_pos[3]; | |
523 | float millimeters_of_travel; | |
524 | ||
525 | // find distance moved by each axis | |
526 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) | |
527 | deltas[axis] = target[axis] - last_milestone[axis]; | |
aab6cbba | 528 | |
edac9072 | 529 | // Compute how long this move moves, so we can attach it to the block for later use |
df6a30f2 MM |
530 | millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
531 | ||
532 | // find distance unit vector | |
533 | for (int i = 0; i < 3; i++) | |
534 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
535 | ||
536 | // Do not move faster than the configured cartesian limits | |
537 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) | |
538 | { | |
539 | if ( max_speeds[axis] > 0 ) | |
540 | { | |
da947c62 | 541 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
542 | |
543 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 544 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
545 | } |
546 | } | |
4cff3ded | 547 | |
df6a30f2 MM |
548 | // find actuator position given cartesian position |
549 | arm_solution->cartesian_to_actuator( target, actuator_pos ); | |
550 | ||
551 | // check per-actuator speed limits | |
552 | for (int actuator = 0; actuator <= 2; actuator++) | |
553 | { | |
da947c62 | 554 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel; |
df6a30f2 MM |
555 | |
556 | if (actuator_rate > actuators[actuator]->max_rate) | |
da947c62 | 557 | rate_mm_s *= (actuators[actuator]->max_rate / actuator_rate); |
df6a30f2 MM |
558 | } |
559 | ||
edac9072 | 560 | // Append the block to the planner |
da947c62 | 561 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 562 | |
edac9072 | 563 | // Update the last_milestone to the current target for the next time we use last_milestone |
c2885de8 | 564 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
565 | |
566 | } | |
567 | ||
edac9072 | 568 | // Append a move to the queue ( cutting it into segments if needed ) |
da947c62 | 569 | void Robot::append_line(Gcode* gcode, float target[], float rate_mm_s ){ |
4cff3ded | 570 | |
edac9072 | 571 | // Find out the distance for this gcode |
2ba859c9 | 572 | gcode->millimeters_of_travel = pow( target[X_AXIS]-this->last_milestone[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->last_milestone[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->last_milestone[Z_AXIS], 2 ); |
4cff3ded | 573 | |
edac9072 | 574 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
70d29afd | 575 | if( gcode->millimeters_of_travel < 1e-8F ){ |
95b4885b JM |
576 | return; |
577 | } | |
436a2cd1 | 578 | |
2ba859c9 MM |
579 | gcode->millimeters_of_travel = sqrtf(gcode->millimeters_of_travel); |
580 | ||
edac9072 | 581 | // Mark the gcode as having a known distance |
5dcb2ff3 | 582 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 583 | |
4a0c8e14 JM |
584 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
585 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
586 | // 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 | 587 | uint16_t segments; |
5984acdf | 588 | |
c2885de8 | 589 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
590 | // enabled if set to something > 1, it is set to 0.0 by default |
591 | // segment based on current speed and requested segments per second | |
592 | // the faster the travel speed the fewer segments needed | |
593 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 594 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
4a0c8e14 JM |
595 | segments= max(1, ceil(this->delta_segments_per_second * seconds)); |
596 | // TODO if we are only moving in Z on a delta we don't really need to segment at all | |
5984acdf | 597 | |
4a0c8e14 | 598 | }else{ |
c2885de8 | 599 | if(this->mm_per_line_segment == 0.0F){ |
4a0c8e14 JM |
600 | segments= 1; // don't split it up |
601 | }else{ | |
602 | segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); | |
603 | } | |
604 | } | |
5984acdf | 605 | |
2ba859c9 MM |
606 | if (segments > 1) |
607 | { | |
608 | // A vector to keep track of the endpoint of each segment | |
609 | float segment_delta[3]; | |
610 | float segment_end[3]; | |
611 | ||
612 | // How far do we move each segment? | |
9fff6045 | 613 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2ba859c9 | 614 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 615 | |
c8e0fb15 MM |
616 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
617 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
2ba859c9 MM |
618 | for (int i = 1; i < segments; i++) |
619 | { | |
620 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ) | |
621 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; | |
622 | ||
623 | // Append the end of this segment to the queue | |
624 | this->append_milestone(segment_end, rate_mm_s); | |
625 | } | |
4cff3ded | 626 | } |
5984acdf MM |
627 | |
628 | // Append the end of this full move to the queue | |
da947c62 | 629 | this->append_milestone(target, rate_mm_s); |
2134bcf2 MM |
630 | |
631 | // if adding these blocks didn't start executing, do that now | |
632 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
633 | } |
634 | ||
4cff3ded | 635 | |
edac9072 | 636 | // Append an arc to the queue ( cutting it into segments as needed ) |
1ad23cd3 | 637 | void Robot::append_arc(Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ){ |
aab6cbba | 638 | |
edac9072 | 639 | // Scary math |
2ba859c9 MM |
640 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
641 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
642 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
643 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
644 | float r_axis1 = -offset[this->plane_axis_1]; | |
645 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
646 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba AW |
647 | |
648 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
1ad23cd3 | 649 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
aab6cbba AW |
650 | if (angular_travel < 0) { angular_travel += 2*M_PI; } |
651 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
652 | ||
edac9072 | 653 | // Find the distance for this gcode |
13addf09 | 654 | gcode->millimeters_of_travel = hypotf(angular_travel*radius, fabs(linear_travel)); |
436a2cd1 | 655 | |
edac9072 | 656 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
c2885de8 | 657 | if( gcode->millimeters_of_travel < 0.0001F ){ return; } |
5dcb2ff3 | 658 | |
edac9072 | 659 | // Mark the gcode as having a known distance |
d149c730 | 660 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
661 | |
662 | // Figure out how many segments for this gcode | |
436a2cd1 | 663 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
aab6cbba | 664 | |
1ad23cd3 MM |
665 | float theta_per_segment = angular_travel/segments; |
666 | float linear_per_segment = linear_travel/segments; | |
aab6cbba AW |
667 | |
668 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
669 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
670 | r_T = [cos(phi) -sin(phi); | |
671 | sin(phi) cos(phi] * r ; | |
672 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
673 | defined from the circle center to the initial position. Each line segment is formed by successive | |
674 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
675 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 676 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
677 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
678 | tool precision in some cases. Therefore, arc path correction is implemented. | |
679 | ||
680 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
681 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
682 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
683 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
684 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
685 | issue for CNC machines with the single precision Arduino calculations. | |
686 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
687 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
688 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
689 | This is important when there are successive arc motions. | |
690 | */ | |
691 | // Vector rotation matrix values | |
c2885de8 | 692 | float cos_T = 1-0.5F*theta_per_segment*theta_per_segment; // Small angle approximation |
1ad23cd3 | 693 | float sin_T = theta_per_segment; |
aab6cbba | 694 | |
1ad23cd3 MM |
695 | float arc_target[3]; |
696 | float sin_Ti; | |
697 | float cos_Ti; | |
698 | float r_axisi; | |
aab6cbba AW |
699 | uint16_t i; |
700 | int8_t count = 0; | |
701 | ||
702 | // Initialize the linear axis | |
2ba859c9 | 703 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba AW |
704 | |
705 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
706 | ||
b66fb830 | 707 | if (count < this->arc_correction ) { |
aab6cbba AW |
708 | // Apply vector rotation matrix |
709 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
710 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
711 | r_axis1 = r_axisi; | |
712 | count++; | |
713 | } else { | |
714 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
715 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
13addf09 MM |
716 | cos_Ti = cosf(i*theta_per_segment); |
717 | sin_Ti = sinf(i*theta_per_segment); | |
aab6cbba AW |
718 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; |
719 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
720 | count = 0; | |
721 | } | |
722 | ||
723 | // Update arc_target location | |
724 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
725 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
726 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
727 | |
728 | // Append this segment to the queue | |
da947c62 | 729 | this->append_milestone(arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
730 | |
731 | } | |
edac9072 | 732 | |
aab6cbba | 733 | // Ensure last segment arrives at target location. |
da947c62 | 734 | this->append_milestone(target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
735 | } |
736 | ||
edac9072 | 737 | // Do the math for an arc and add it to the queue |
1ad23cd3 | 738 | void Robot::compute_arc(Gcode* gcode, float offset[], float target[]){ |
aab6cbba AW |
739 | |
740 | // Find the radius | |
13addf09 | 741 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
742 | |
743 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
744 | bool is_clockwise = false; | |
df27a6a3 | 745 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
aab6cbba AW |
746 | |
747 | // Append arc | |
436a2cd1 | 748 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
749 | |
750 | } | |
751 | ||
752 | ||
1ad23cd3 | 753 | float Robot::theta(float x, float y){ |
71c21c73 | 754 | float t = atanf(x/fabs(y)); |
4cff3ded AW |
755 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} |
756 | } | |
757 | ||
758 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
759 | this->plane_axis_0 = axis_0; | |
760 | this->plane_axis_1 = axis_1; | |
761 | this->plane_axis_2 = axis_2; | |
762 | } | |
763 | ||
764 |