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" |
2a06c415 | 27 | #include "arm_solutions/LinearDeltaSolution.h" |
bdaaa75d | 28 | #include "arm_solutions/HBotSolution.h" |
61134a65 | 29 | #include "StepTicker.h" |
7af0714f JM |
30 | #include "checksumm.h" |
31 | #include "utils.h" | |
8d54c34c | 32 | #include "ConfigValue.h" |
5966b7d0 | 33 | #include "libs/StreamOutput.h" |
dd0a7cfa | 34 | #include "StreamOutputPool.h" |
38bf9a1c | 35 | |
78d0e16a MM |
36 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
37 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
38 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
39 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
40 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
41 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
42 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
43 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
44 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
45 | |
46 | // arm solutions | |
78d0e16a MM |
47 | #define arm_solution_checksum CHECKSUM("arm_solution") |
48 | #define cartesian_checksum CHECKSUM("cartesian") | |
49 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
50 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 51 | #define linear_delta_checksum CHECKSUM("linear_delta") |
78d0e16a MM |
52 | #define delta_checksum CHECKSUM("delta") |
53 | #define hbot_checksum CHECKSUM("hbot") | |
54 | #define corexy_checksum CHECKSUM("corexy") | |
55 | #define kossel_checksum CHECKSUM("kossel") | |
56 | ||
57 | // stepper motor stuff | |
58 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
59 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
60 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
61 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
62 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
63 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
64 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
65 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
66 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 67 | |
78d0e16a MM |
68 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
69 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
70 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
71 | ||
df6a30f2 MM |
72 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
73 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
74 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
75 | ||
76 | ||
78d0e16a MM |
77 | // new-style actuator stuff |
78 | #define actuator_checksum CHEKCSUM("actuator") | |
79 | ||
80 | #define step_pin_checksum CHECKSUM("step_pin") | |
81 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
82 | #define en_pin_checksum CHECKSUM("en_pin") | |
83 | ||
84 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 85 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
86 | |
87 | #define alpha_checksum CHECKSUM("alpha") | |
88 | #define beta_checksum CHECKSUM("beta") | |
89 | #define gamma_checksum CHECKSUM("gamma") | |
90 | ||
43424972 | 91 | |
38bf9a1c JM |
92 | #define NEXT_ACTION_DEFAULT 0 |
93 | #define NEXT_ACTION_DWELL 1 | |
94 | #define NEXT_ACTION_GO_HOME 2 | |
95 | ||
96 | #define MOTION_MODE_SEEK 0 // G0 | |
97 | #define MOTION_MODE_LINEAR 1 // G1 | |
98 | #define MOTION_MODE_CW_ARC 2 // G2 | |
99 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
100 | #define MOTION_MODE_CANCEL 4 // G80 | |
101 | ||
102 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
103 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
104 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
105 | ||
106 | #define PROGRAM_FLOW_RUNNING 0 | |
107 | #define PROGRAM_FLOW_PAUSED 1 | |
108 | #define PROGRAM_FLOW_COMPLETED 2 | |
109 | ||
110 | #define SPINDLE_DIRECTION_CW 0 | |
111 | #define SPINDLE_DIRECTION_CCW 1 | |
112 | ||
edac9072 AW |
113 | // 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 |
114 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
41fd89e0 | 115 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
edac9072 | 116 | |
4710532a JM |
117 | Robot::Robot() |
118 | { | |
a1b7e9f0 | 119 | this->inch_mode = false; |
0e8b102e | 120 | this->absolute_mode = true; |
df27a6a3 | 121 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 122 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 123 | clear_vector(this->last_milestone); |
0b804a41 | 124 | this->arm_solution = NULL; |
da947c62 | 125 | seconds_per_minute = 60.0F; |
fae93525 | 126 | this->clearToolOffset(); |
4cff3ded AW |
127 | } |
128 | ||
129 | //Called when the module has just been loaded | |
4710532a JM |
130 | void Robot::on_module_loaded() |
131 | { | |
4cff3ded | 132 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
133 | this->register_for_event(ON_GET_PUBLIC_DATA); |
134 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
4cff3ded AW |
135 | |
136 | // Configuration | |
da24d6ae AW |
137 | this->on_config_reload(this); |
138 | } | |
139 | ||
4710532a JM |
140 | void Robot::on_config_reload(void *argument) |
141 | { | |
5984acdf | 142 | |
edac9072 AW |
143 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
144 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
145 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 146 | // Here we read the config to find out which arm solution to use |
0b804a41 | 147 | if (this->arm_solution) delete this->arm_solution; |
314ab8f7 | 148 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 149 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 150 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 151 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 152 | |
2a06c415 JM |
153 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
154 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 155 | |
4710532a | 156 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 157 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 158 | |
4710532a | 159 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 160 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 161 | |
4710532a | 162 | } else { |
314ab8f7 | 163 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 164 | } |
73a4e3c0 | 165 | |
0b804a41 | 166 | |
da947c62 MM |
167 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
168 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
169 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
1ad23cd3 | 170 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); |
da947c62 MM |
171 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); |
172 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 173 | |
c9ed779d MM |
174 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
175 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
176 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 177 | |
78d0e16a MM |
178 | Pin alpha_step_pin; |
179 | Pin alpha_dir_pin; | |
180 | Pin alpha_en_pin; | |
181 | Pin beta_step_pin; | |
182 | Pin beta_dir_pin; | |
183 | Pin beta_en_pin; | |
184 | Pin gamma_step_pin; | |
185 | Pin gamma_dir_pin; | |
186 | Pin gamma_en_pin; | |
187 | ||
188 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); | |
189 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
190 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
191 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
9c5fa39a MM |
192 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
193 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
78d0e16a MM |
194 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
195 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
196 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 197 | |
a84f0186 MM |
198 | float steps_per_mm[3] = { |
199 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), | |
200 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
201 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
202 | }; | |
203 | ||
78d0e16a MM |
204 | // TODO: delete or detect old steppermotors |
205 | // Make our 3 StepperMotors | |
9c5fa39a MM |
206 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) ); |
207 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) ); | |
208 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) ); | |
78d0e16a | 209 | |
a84f0186 MM |
210 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
211 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
212 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
213 | ||
df6a30f2 MM |
214 | alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
215 | beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F; | |
216 | gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; | |
dd0a7cfa | 217 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 218 | |
78d0e16a MM |
219 | actuators.clear(); |
220 | actuators.push_back(alpha_stepper_motor); | |
221 | actuators.push_back(beta_stepper_motor); | |
222 | actuators.push_back(gamma_stepper_motor); | |
975469ad | 223 | |
dd0a7cfa | 224 | |
975469ad MM |
225 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
226 | // so the first move can be correct if homing is not performed | |
227 | float actuator_pos[3]; | |
228 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
229 | for (int i = 0; i < 3; i++) | |
230 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
5966b7d0 AT |
231 | |
232 | //this->clearToolOffset(); | |
4cff3ded AW |
233 | } |
234 | ||
dd0a7cfa JM |
235 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
236 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
237 | void Robot::check_max_actuator_speeds() | |
238 | { | |
239 | float step_freq= alpha_stepper_motor->max_rate * alpha_stepper_motor->get_steps_per_mm(); | |
240 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
241 | alpha_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / alpha_stepper_motor->get_steps_per_mm()); | |
242 | THEKERNEL->streams->printf("WARNING: alpha_max_rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", step_freq, alpha_stepper_motor->max_rate); | |
243 | } | |
244 | ||
245 | step_freq= beta_stepper_motor->max_rate * beta_stepper_motor->get_steps_per_mm(); | |
246 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
247 | beta_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / beta_stepper_motor->get_steps_per_mm()); | |
248 | THEKERNEL->streams->printf("WARNING: beta_max_rate exceeds base_stepping_frequency * beta_steps_per_mm: %f, setting to %f\n", step_freq, beta_stepper_motor->max_rate); | |
249 | } | |
250 | ||
251 | step_freq= gamma_stepper_motor->max_rate * gamma_stepper_motor->get_steps_per_mm(); | |
252 | if(step_freq > THEKERNEL->base_stepping_frequency) { | |
253 | gamma_stepper_motor->max_rate= floorf(THEKERNEL->base_stepping_frequency / gamma_stepper_motor->get_steps_per_mm()); | |
254 | THEKERNEL->streams->printf("WARNING: gamma_max_rate exceeds base_stepping_frequency * gamma_steps_per_mm: %f, setting to %f\n", step_freq, gamma_stepper_motor->max_rate); | |
255 | } | |
256 | } | |
257 | ||
4710532a JM |
258 | void Robot::on_get_public_data(void *argument) |
259 | { | |
260 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
b55cfff1 JM |
261 | |
262 | if(!pdr->starts_with(robot_checksum)) return; | |
263 | ||
264 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 265 | static float return_data; |
da947c62 | 266 | return_data = 100.0F * 60.0F / seconds_per_minute; |
b55cfff1 JM |
267 | pdr->set_data_ptr(&return_data); |
268 | pdr->set_taken(); | |
98761c28 | 269 | |
4710532a | 270 | } else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 271 | static float return_data[3]; |
4710532a JM |
272 | return_data[0] = from_millimeters(this->last_milestone[0]); |
273 | return_data[1] = from_millimeters(this->last_milestone[1]); | |
274 | return_data[2] = from_millimeters(this->last_milestone[2]); | |
b55cfff1 JM |
275 | |
276 | pdr->set_data_ptr(&return_data); | |
98761c28 | 277 | pdr->set_taken(); |
b55cfff1 | 278 | } |
5647f709 JM |
279 | } |
280 | ||
4710532a JM |
281 | void Robot::on_set_public_data(void *argument) |
282 | { | |
283 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
5647f709 | 284 | |
b55cfff1 | 285 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 286 | |
b55cfff1 | 287 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 288 | // NOTE do not use this while printing! |
4710532a | 289 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
98761c28 | 290 | // enforce minimum 10% speed |
4710532a | 291 | if (t < 10.0F) t = 10.0F; |
98761c28 | 292 | |
da947c62 | 293 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
b55cfff1 | 294 | pdr->set_taken(); |
4710532a JM |
295 | } else if(pdr->second_element_is(current_position_checksum)) { |
296 | float *t = static_cast<float *>(pdr->get_data_ptr()); | |
297 | for (int i = 0; i < 3; i++) { | |
8adf2390 L |
298 | this->last_milestone[i] = this->to_millimeters(t[i]); |
299 | } | |
300 | ||
301 | float actuator_pos[3]; | |
302 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
303 | for (int i = 0; i < 3; i++) | |
304 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
305 | ||
306 | pdr->set_taken(); | |
307 | } | |
5647f709 JM |
308 | } |
309 | ||
4cff3ded | 310 | //A GCode has been received |
edac9072 | 311 | //See if the current Gcode line has some orders for us |
4710532a JM |
312 | void Robot::on_gcode_received(void *argument) |
313 | { | |
314 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 315 | |
23c90ba6 | 316 | this->motion_mode = -1; |
4cff3ded | 317 | |
4710532a JM |
318 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
319 | if( gcode->has_g) { | |
320 | switch( gcode->g ) { | |
74b6303c DD |
321 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
322 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
323 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
324 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
325 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; | |
326 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
327 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
328 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
329 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
330 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
331 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 332 | case 92: { |
4710532a | 333 | if(gcode->get_num_args() == 0) { |
8a23b271 | 334 | clear_vector(this->last_milestone); |
4710532a JM |
335 | } else { |
336 | for (char letter = 'X'; letter <= 'Z'; letter++) { | |
eaf8a8a8 | 337 | if ( gcode->has_letter(letter) ) |
4710532a | 338 | this->last_milestone[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)); |
eaf8a8a8 | 339 | } |
6bc4a00a | 340 | } |
78d0e16a MM |
341 | |
342 | // TODO: handle any number of actuators | |
343 | float actuator_pos[3]; | |
2ba859c9 | 344 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); |
78d0e16a MM |
345 | |
346 | for (int i = 0; i < 3; i++) | |
347 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
348 | ||
74b6303c | 349 | gcode->mark_as_taken(); |
78d0e16a | 350 | return; |
4710532a JM |
351 | } |
352 | } | |
353 | } else if( gcode->has_m) { | |
354 | switch( gcode->m ) { | |
0fb5b438 | 355 | case 92: // M92 - set steps per mm |
0fb5b438 | 356 | if (gcode->has_letter('X')) |
78d0e16a | 357 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 358 | if (gcode->has_letter('Y')) |
78d0e16a | 359 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 360 | if (gcode->has_letter('Z')) |
78d0e16a | 361 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
362 | if (gcode->has_letter('F')) |
363 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
364 | |
365 | 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 | 366 | gcode->add_nl = true; |
74b6303c | 367 | gcode->mark_as_taken(); |
dd0a7cfa | 368 | check_max_actuator_speeds(); |
0fb5b438 | 369 | return; |
4710532a JM |
370 | case 114: { |
371 | char buf[32]; | |
372 | int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f", | |
373 | from_millimeters(this->last_milestone[0]), | |
374 | from_millimeters(this->last_milestone[1]), | |
375 | from_millimeters(this->last_milestone[2])); | |
376 | gcode->txt_after_ok.append(buf, n); | |
377 | gcode->mark_as_taken(); | |
378 | } | |
379 | return; | |
33e4cc02 | 380 | |
83488642 JM |
381 | case 203: // M203 Set maximum feedrates in mm/sec |
382 | if (gcode->has_letter('X')) | |
4710532a | 383 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 384 | if (gcode->has_letter('Y')) |
4710532a | 385 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 386 | if (gcode->has_letter('Z')) |
4710532a | 387 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
83488642 | 388 | if (gcode->has_letter('A')) |
4710532a | 389 | alpha_stepper_motor->max_rate = gcode->get_value('A'); |
83488642 | 390 | if (gcode->has_letter('B')) |
4710532a | 391 | beta_stepper_motor->max_rate = gcode->get_value('B'); |
83488642 | 392 | if (gcode->has_letter('C')) |
4710532a | 393 | gamma_stepper_motor->max_rate = gcode->get_value('C'); |
83488642 | 394 | |
dd0a7cfa JM |
395 | check_max_actuator_speeds(); |
396 | ||
83488642 | 397 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", |
4710532a JM |
398 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
399 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
83488642 JM |
400 | gcode->add_nl = true; |
401 | gcode->mark_as_taken(); | |
402 | break; | |
403 | ||
d4ee6ee2 JM |
404 | case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported |
405 | gcode->mark_as_taken(); | |
83488642 | 406 | |
4710532a | 407 | if (gcode->has_letter('S')) { |
83488642 JM |
408 | // TODO for safety so it applies only to following gcodes, maybe a better way to do this? |
409 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
4710532a | 410 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 411 | // enforce minimum |
da947c62 MM |
412 | if (acc < 1.0F) |
413 | acc = 1.0F; | |
4710532a | 414 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 JM |
415 | } |
416 | break; | |
417 | ||
8b69c90d | 418 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
d4ee6ee2 | 419 | gcode->mark_as_taken(); |
4710532a JM |
420 | if (gcode->has_letter('X')) { |
421 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 422 | // enforce minimum |
8b69c90d JM |
423 | if (jd < 0.0F) |
424 | jd = 0.0F; | |
4710532a | 425 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 426 | } |
4710532a JM |
427 | if (gcode->has_letter('S')) { |
428 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
429 | // enforce minimum |
430 | if (mps < 0.0F) | |
431 | mps = 0.0F; | |
4710532a | 432 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 433 | } |
d4ee6ee2 | 434 | break; |
98761c28 | 435 | |
7369629d | 436 | case 220: // M220 - speed override percentage |
74b6303c | 437 | gcode->mark_as_taken(); |
4710532a | 438 | if (gcode->has_letter('S')) { |
1ad23cd3 | 439 | float factor = gcode->get_value('S'); |
98761c28 | 440 | // enforce minimum 10% speed |
da947c62 MM |
441 | if (factor < 10.0F) |
442 | factor = 10.0F; | |
443 | // enforce maximum 10x speed | |
444 | if (factor > 1000.0F) | |
445 | factor = 1000.0F; | |
446 | ||
447 | seconds_per_minute = 6000.0F / factor; | |
7369629d | 448 | } |
b4f56013 | 449 | break; |
ec4773e5 | 450 | |
494dc541 JM |
451 | case 400: // wait until all moves are done up to this point |
452 | gcode->mark_as_taken(); | |
314ab8f7 | 453 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
454 | break; |
455 | ||
33e4cc02 | 456 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 457 | case 503: { // M503 just prints the settings |
78d0e16a | 458 | 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 | 459 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration); |
8b69c90d | 460 | 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 | 461 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
4710532a JM |
462 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
463 | alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate); | |
b7cd847e JM |
464 | |
465 | // get or save any arm solution specific optional values | |
466 | BaseSolution::arm_options_t options; | |
467 | if(arm_solution->get_optional(options) && !options.empty()) { | |
468 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 469 | for(auto &i : options) { |
b7cd847e JM |
470 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
471 | } | |
472 | gcode->stream->printf("\n"); | |
473 | } | |
33e4cc02 JM |
474 | gcode->mark_as_taken(); |
475 | break; | |
b7cd847e | 476 | } |
33e4cc02 | 477 | |
b7cd847e | 478 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ec4773e5 | 479 | gcode->mark_as_taken(); |
b7cd847e JM |
480 | // the parameter args could be any letter except S so ask solution what options it supports |
481 | BaseSolution::arm_options_t options; | |
482 | if(arm_solution->get_optional(options)) { | |
4710532a | 483 | for(auto &i : options) { |
b7cd847e | 484 | // foreach optional value |
4710532a | 485 | char c = i.first; |
b7cd847e | 486 | if(gcode->has_letter(c)) { // set new value |
4710532a | 487 | i.second = gcode->get_value(c); |
b7cd847e JM |
488 | } |
489 | // print all current values of supported options | |
490 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 491 | gcode->add_nl = true; |
ec4773e5 | 492 | } |
b7cd847e JM |
493 | // set the new options |
494 | arm_solution->set_optional(options); | |
ec4773e5 | 495 | } |
ec4773e5 | 496 | |
b7cd847e | 497 | // set delta segments per second, not saved by M500 |
ec29d378 | 498 | if(gcode->has_letter('S')) { |
4710532a | 499 | this->delta_segments_per_second = gcode->get_value('S'); |
ec29d378 | 500 | } |
ec4773e5 | 501 | break; |
b7cd847e | 502 | } |
6989211c | 503 | } |
494dc541 JM |
504 | } |
505 | ||
c83887ea MM |
506 | if( this->motion_mode < 0) |
507 | return; | |
6bc4a00a | 508 | |
4710532a | 509 | //Get parameters |
1ad23cd3 | 510 | float target[3], offset[3]; |
c2885de8 | 511 | clear_vector(offset); |
6bc4a00a | 512 | |
2ba859c9 | 513 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
6bc4a00a | 514 | |
4710532a JM |
515 | for(char letter = 'I'; letter <= 'K'; letter++) { |
516 | if( gcode->has_letter(letter) ) { | |
517 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
518 | } |
519 | } | |
4710532a JM |
520 | for(char letter = 'X'; letter <= 'Z'; letter++) { |
521 | if( gcode->has_letter(letter) ) { | |
c7689006 | 522 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']); |
c2885de8 JM |
523 | } |
524 | } | |
6bc4a00a | 525 | |
4710532a | 526 | if( gcode->has_letter('F') ) { |
7369629d | 527 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 528 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 529 | else |
da947c62 | 530 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 531 | } |
6bc4a00a | 532 | |
4cff3ded | 533 | //Perform any physical actions |
fae93525 JM |
534 | switch(this->motion_mode) { |
535 | case MOTION_MODE_CANCEL: break; | |
536 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; | |
537 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
538 | case MOTION_MODE_CW_ARC: | |
539 | case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded | 540 | } |
13e4a3f9 | 541 | |
fae93525 | 542 | // last_milestone was set to target in append_milestone, no need to do it again |
4cff3ded | 543 | |
edac9072 AW |
544 | } |
545 | ||
5984acdf | 546 | // We received a new gcode, and one of the functions |
edac9072 AW |
547 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
548 | // and continue | |
4710532a JM |
549 | void Robot::distance_in_gcode_is_known(Gcode *gcode) |
550 | { | |
edac9072 AW |
551 | |
552 | //If the queue is empty, execute immediatly, otherwise attach to the last added block | |
e0ee24ed | 553 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
554 | } |
555 | ||
556 | // Reset the position for all axes ( used in homing and G92 stuff ) | |
4710532a JM |
557 | void Robot::reset_axis_position(float position, int axis) |
558 | { | |
2ba859c9 | 559 | this->last_milestone[axis] = position; |
29c28822 MM |
560 | |
561 | float actuator_pos[3]; | |
562 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
563 | ||
564 | for (int i = 0; i < 3; i++) | |
565 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
566 | } |
567 | ||
edac9072 | 568 | |
4cff3ded | 569 | // Convert target from millimeters to steps, and append this to the planner |
da947c62 | 570 | void Robot::append_milestone( float target[], float rate_mm_s ) |
df6a30f2 | 571 | { |
1ad23cd3 | 572 | float deltas[3]; |
df6a30f2 MM |
573 | float unit_vec[3]; |
574 | float actuator_pos[3]; | |
575 | float millimeters_of_travel; | |
576 | ||
577 | // find distance moved by each axis | |
578 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) | |
579 | deltas[axis] = target[axis] - last_milestone[axis]; | |
aab6cbba | 580 | |
edac9072 | 581 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 582 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 MM |
583 | |
584 | // find distance unit vector | |
585 | for (int i = 0; i < 3; i++) | |
586 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
587 | ||
588 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
589 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
590 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 591 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
592 | |
593 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 594 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
595 | } |
596 | } | |
4cff3ded | 597 | |
df6a30f2 MM |
598 | // find actuator position given cartesian position |
599 | arm_solution->cartesian_to_actuator( target, actuator_pos ); | |
600 | ||
601 | // check per-actuator speed limits | |
4710532a | 602 | for (int actuator = 0; actuator <= 2; actuator++) { |
da947c62 | 603 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel; |
df6a30f2 MM |
604 | |
605 | if (actuator_rate > actuators[actuator]->max_rate) | |
da947c62 | 606 | rate_mm_s *= (actuators[actuator]->max_rate / actuator_rate); |
df6a30f2 MM |
607 | } |
608 | ||
edac9072 | 609 | // Append the block to the planner |
da947c62 | 610 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 611 | |
edac9072 | 612 | // Update the last_milestone to the current target for the next time we use last_milestone |
c2885de8 | 613 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
614 | |
615 | } | |
616 | ||
edac9072 | 617 | // Append a move to the queue ( cutting it into segments if needed ) |
4710532a JM |
618 | void Robot::append_line(Gcode *gcode, float target[], float rate_mm_s ) |
619 | { | |
4cff3ded | 620 | |
edac9072 | 621 | // Find out the distance for this gcode |
869acfb8 | 622 | gcode->millimeters_of_travel = powf( target[X_AXIS] - this->last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - this->last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - this->last_milestone[Z_AXIS], 2 ); |
4cff3ded | 623 | |
edac9072 | 624 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
4710532a | 625 | if( gcode->millimeters_of_travel < 1e-8F ) { |
95b4885b JM |
626 | return; |
627 | } | |
436a2cd1 | 628 | |
2ba859c9 MM |
629 | gcode->millimeters_of_travel = sqrtf(gcode->millimeters_of_travel); |
630 | ||
edac9072 | 631 | // Mark the gcode as having a known distance |
5dcb2ff3 | 632 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 633 | |
4a0c8e14 JM |
634 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
635 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
636 | // 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 | 637 | uint16_t segments; |
5984acdf | 638 | |
c2885de8 | 639 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
640 | // enabled if set to something > 1, it is set to 0.0 by default |
641 | // segment based on current speed and requested segments per second | |
642 | // the faster the travel speed the fewer segments needed | |
643 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 644 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
4710532a | 645 | segments = max(1, ceil(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 646 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 647 | |
4710532a JM |
648 | } else { |
649 | if(this->mm_per_line_segment == 0.0F) { | |
650 | segments = 1; // don't split it up | |
651 | } else { | |
652 | segments = ceil( gcode->millimeters_of_travel / this->mm_per_line_segment); | |
4a0c8e14 JM |
653 | } |
654 | } | |
5984acdf | 655 | |
4710532a | 656 | if (segments > 1) { |
2ba859c9 MM |
657 | // A vector to keep track of the endpoint of each segment |
658 | float segment_delta[3]; | |
659 | float segment_end[3]; | |
660 | ||
661 | // How far do we move each segment? | |
9fff6045 | 662 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2ba859c9 | 663 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 664 | |
c8e0fb15 MM |
665 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
666 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a JM |
667 | for (int i = 1; i < segments; i++) { |
668 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) | |
2ba859c9 MM |
669 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
670 | ||
671 | // Append the end of this segment to the queue | |
672 | this->append_milestone(segment_end, rate_mm_s); | |
673 | } | |
4cff3ded | 674 | } |
5984acdf MM |
675 | |
676 | // Append the end of this full move to the queue | |
da947c62 | 677 | this->append_milestone(target, rate_mm_s); |
2134bcf2 MM |
678 | |
679 | // if adding these blocks didn't start executing, do that now | |
680 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
681 | } |
682 | ||
4cff3ded | 683 | |
edac9072 | 684 | // Append an arc to the queue ( cutting it into segments as needed ) |
4710532a JM |
685 | void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radius, bool is_clockwise ) |
686 | { | |
aab6cbba | 687 | |
edac9072 | 688 | // Scary math |
2ba859c9 MM |
689 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
690 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
691 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
692 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
693 | float r_axis1 = -offset[this->plane_axis_1]; | |
694 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
695 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba AW |
696 | |
697 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
4710532a JM |
698 | float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
699 | if (angular_travel < 0) { | |
700 | angular_travel += 2 * M_PI; | |
701 | } | |
702 | if (is_clockwise) { | |
703 | angular_travel -= 2 * M_PI; | |
704 | } | |
aab6cbba | 705 | |
edac9072 | 706 | // Find the distance for this gcode |
4710532a | 707 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 708 | |
edac9072 | 709 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
4710532a JM |
710 | if( gcode->millimeters_of_travel < 0.0001F ) { |
711 | return; | |
712 | } | |
5dcb2ff3 | 713 | |
edac9072 | 714 | // Mark the gcode as having a known distance |
d149c730 | 715 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
716 | |
717 | // Figure out how many segments for this gcode | |
4710532a | 718 | uint16_t segments = floor(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 719 | |
4710532a JM |
720 | float theta_per_segment = angular_travel / segments; |
721 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
722 | |
723 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
724 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
725 | r_T = [cos(phi) -sin(phi); | |
726 | sin(phi) cos(phi] * r ; | |
727 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
728 | defined from the circle center to the initial position. Each line segment is formed by successive | |
729 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
730 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 731 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
732 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
733 | tool precision in some cases. Therefore, arc path correction is implemented. | |
734 | ||
735 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
736 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
737 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
738 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
739 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
740 | issue for CNC machines with the single precision Arduino calculations. | |
741 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
742 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
743 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
744 | This is important when there are successive arc motions. | |
745 | */ | |
746 | // Vector rotation matrix values | |
4710532a | 747 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 748 | float sin_T = theta_per_segment; |
aab6cbba | 749 | |
1ad23cd3 MM |
750 | float arc_target[3]; |
751 | float sin_Ti; | |
752 | float cos_Ti; | |
753 | float r_axisi; | |
aab6cbba AW |
754 | uint16_t i; |
755 | int8_t count = 0; | |
756 | ||
757 | // Initialize the linear axis | |
2ba859c9 | 758 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 759 | |
4710532a | 760 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
aab6cbba | 761 | |
b66fb830 | 762 | if (count < this->arc_correction ) { |
4710532a JM |
763 | // Apply vector rotation matrix |
764 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
765 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
766 | r_axis1 = r_axisi; | |
767 | count++; | |
aab6cbba | 768 | } else { |
4710532a JM |
769 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
770 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
771 | cos_Ti = cosf(i * theta_per_segment); | |
772 | sin_Ti = sinf(i * theta_per_segment); | |
773 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
774 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
775 | count = 0; | |
aab6cbba AW |
776 | } |
777 | ||
778 | // Update arc_target location | |
779 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
780 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
781 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
782 | |
783 | // Append this segment to the queue | |
da947c62 | 784 | this->append_milestone(arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
785 | |
786 | } | |
edac9072 | 787 | |
aab6cbba | 788 | // Ensure last segment arrives at target location. |
da947c62 | 789 | this->append_milestone(target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
790 | } |
791 | ||
edac9072 | 792 | // Do the math for an arc and add it to the queue |
4710532a JM |
793 | void Robot::compute_arc(Gcode *gcode, float offset[], float target[]) |
794 | { | |
aab6cbba AW |
795 | |
796 | // Find the radius | |
13addf09 | 797 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
798 | |
799 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
800 | bool is_clockwise = false; | |
4710532a JM |
801 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
802 | is_clockwise = true; | |
803 | } | |
aab6cbba AW |
804 | |
805 | // Append arc | |
436a2cd1 | 806 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
807 | |
808 | } | |
809 | ||
810 | ||
4710532a JM |
811 | float Robot::theta(float x, float y) |
812 | { | |
813 | float t = atanf(x / fabs(y)); | |
814 | if (y > 0) { | |
815 | return(t); | |
816 | } else { | |
817 | if (t > 0) { | |
818 | return(M_PI - t); | |
819 | } else { | |
820 | return(-M_PI - t); | |
821 | } | |
822 | } | |
4cff3ded AW |
823 | } |
824 | ||
4710532a JM |
825 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
826 | { | |
4cff3ded AW |
827 | this->plane_axis_0 = axis_0; |
828 | this->plane_axis_1 = axis_1; | |
829 | this->plane_axis_2 = axis_2; | |
830 | } | |
831 | ||
fae93525 | 832 | void Robot::clearToolOffset() |
4710532a | 833 | { |
fae93525 JM |
834 | memset(this->toolOffset, 0, sizeof(this->toolOffset)); |
835 | } | |
836 | ||
837 | void Robot::setToolOffset(const float offset[3]) | |
838 | { | |
fae93525 | 839 | memcpy(this->toolOffset, offset, sizeof(this->toolOffset)); |
5966b7d0 AT |
840 | } |
841 |