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 | ||
df6a30f2 MM |
63 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
64 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
65 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
66 | ||
67 | ||
78d0e16a MM |
68 | // new-style actuator stuff |
69 | #define actuator_checksum CHEKCSUM("actuator") | |
70 | ||
71 | #define step_pin_checksum CHECKSUM("step_pin") | |
72 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
73 | #define en_pin_checksum CHECKSUM("en_pin") | |
74 | ||
75 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 76 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
77 | |
78 | #define alpha_checksum CHECKSUM("alpha") | |
79 | #define beta_checksum CHECKSUM("beta") | |
80 | #define gamma_checksum CHECKSUM("gamma") | |
81 | ||
43424972 | 82 | |
edac9072 AW |
83 | // 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 |
84 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
41fd89e0 | 85 | #define max(a,b) (((a) > (b)) ? (a) : (b)) |
edac9072 | 86 | |
4cff3ded | 87 | Robot::Robot(){ |
a1b7e9f0 | 88 | this->inch_mode = false; |
0e8b102e | 89 | this->absolute_mode = true; |
df27a6a3 | 90 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded AW |
91 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
92 | clear_vector(this->current_position); | |
df27a6a3 | 93 | clear_vector(this->last_milestone); |
0b804a41 | 94 | this->arm_solution = NULL; |
7369629d | 95 | seconds_per_minute = 60.0; |
4cff3ded AW |
96 | } |
97 | ||
98 | //Called when the module has just been loaded | |
99 | void Robot::on_module_loaded() { | |
476dcb96 | 100 | register_for_event(ON_CONFIG_RELOAD); |
4cff3ded | 101 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
102 | this->register_for_event(ON_GET_PUBLIC_DATA); |
103 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
4cff3ded AW |
104 | |
105 | // Configuration | |
da24d6ae AW |
106 | this->on_config_reload(this); |
107 | } | |
108 | ||
109 | void Robot::on_config_reload(void* argument){ | |
5984acdf | 110 | |
edac9072 AW |
111 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
112 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
113 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 114 | // Here we read the config to find out which arm solution to use |
0b804a41 | 115 | if (this->arm_solution) delete this->arm_solution; |
314ab8f7 | 116 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 117 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 118 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 119 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d L |
120 | |
121 | }else if(solution_checksum == rostock_checksum) { | |
314ab8f7 | 122 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 123 | |
2c7ab192 | 124 | }else if(solution_checksum == kossel_checksum) { |
314ab8f7 | 125 | this->arm_solution = new JohannKosselSolution(THEKERNEL->config); |
2c7ab192 | 126 | |
d149c730 | 127 | }else if(solution_checksum == delta_checksum) { |
4a0c8e14 | 128 | // place holder for now |
314ab8f7 | 129 | this->arm_solution = new RostockSolution(THEKERNEL->config); |
73a4e3c0 | 130 | |
b73a756d | 131 | }else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 132 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 133 | |
d149c730 | 134 | }else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 135 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 136 | |
d149c730 | 137 | }else{ |
314ab8f7 | 138 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 139 | } |
73a4e3c0 | 140 | |
0b804a41 | 141 | |
314ab8f7 MM |
142 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(100 )->as_number() / 60; |
143 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default(100 )->as_number() / 60; | |
1ad23cd3 MM |
144 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default(0.0f )->as_number(); |
145 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
146 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default(0.5f )->as_number(); | |
314ab8f7 | 147 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default(5 )->as_number(); |
78d0e16a | 148 | |
314ab8f7 MM |
149 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000 )->as_number(); |
150 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000 )->as_number(); | |
151 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default(300 )->as_number(); | |
feb204be | 152 | |
78d0e16a MM |
153 | Pin alpha_step_pin; |
154 | Pin alpha_dir_pin; | |
155 | Pin alpha_en_pin; | |
156 | Pin beta_step_pin; | |
157 | Pin beta_dir_pin; | |
158 | Pin beta_en_pin; | |
159 | Pin gamma_step_pin; | |
160 | Pin gamma_dir_pin; | |
161 | Pin gamma_en_pin; | |
162 | ||
163 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); | |
164 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
165 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
166 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
9c5fa39a MM |
167 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
168 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
78d0e16a MM |
169 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
170 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
171 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 172 | |
a84f0186 MM |
173 | float steps_per_mm[3] = { |
174 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), | |
175 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
176 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
177 | }; | |
178 | ||
78d0e16a MM |
179 | // TODO: delete or detect old steppermotors |
180 | // Make our 3 StepperMotors | |
9c5fa39a MM |
181 | this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) ); |
182 | this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) ); | |
183 | this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) ); | |
78d0e16a | 184 | |
a84f0186 MM |
185 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
186 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
187 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
188 | ||
df6a30f2 MM |
189 | alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; |
190 | beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F; | |
191 | gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F; | |
192 | ||
78d0e16a MM |
193 | actuators.clear(); |
194 | actuators.push_back(alpha_stepper_motor); | |
195 | actuators.push_back(beta_stepper_motor); | |
196 | actuators.push_back(gamma_stepper_motor); | |
4cff3ded AW |
197 | } |
198 | ||
5647f709 | 199 | void Robot::on_get_public_data(void* argument){ |
b55cfff1 JM |
200 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
201 | ||
202 | if(!pdr->starts_with(robot_checksum)) return; | |
203 | ||
204 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 205 | static float return_data; |
58d6d841 | 206 | return_data= 100*this->seconds_per_minute/60; |
b55cfff1 JM |
207 | pdr->set_data_ptr(&return_data); |
208 | pdr->set_taken(); | |
98761c28 | 209 | |
b55cfff1 | 210 | }else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 211 | static float return_data[3]; |
b55cfff1 JM |
212 | return_data[0]= from_millimeters(this->current_position[0]); |
213 | return_data[1]= from_millimeters(this->current_position[1]); | |
214 | return_data[2]= from_millimeters(this->current_position[2]); | |
215 | ||
216 | pdr->set_data_ptr(&return_data); | |
98761c28 | 217 | pdr->set_taken(); |
b55cfff1 | 218 | } |
5647f709 JM |
219 | } |
220 | ||
221 | void Robot::on_set_public_data(void* argument){ | |
b55cfff1 | 222 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
5647f709 | 223 | |
b55cfff1 | 224 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 225 | |
b55cfff1 | 226 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 227 | // NOTE do not use this while printing! |
1ad23cd3 | 228 | float t= *static_cast<float*>(pdr->get_data_ptr()); |
98761c28 JM |
229 | // enforce minimum 10% speed |
230 | if (t < 10.0) t= 10.0; | |
231 | ||
35089dc7 | 232 | this->seconds_per_minute= t * 0.6; |
b55cfff1 JM |
233 | pdr->set_taken(); |
234 | } | |
5647f709 JM |
235 | } |
236 | ||
4cff3ded | 237 | //A GCode has been received |
edac9072 | 238 | //See if the current Gcode line has some orders for us |
4cff3ded AW |
239 | void Robot::on_gcode_received(void * argument){ |
240 | Gcode* gcode = static_cast<Gcode*>(argument); | |
6bc4a00a | 241 | |
4cff3ded AW |
242 | //Temp variables, constant properties are stored in the object |
243 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 244 | this->motion_mode = -1; |
4cff3ded AW |
245 | |
246 | //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 |
247 | if( gcode->has_g){ |
248 | switch( gcode->g ){ | |
74b6303c DD |
249 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
250 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
251 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
252 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
253 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; | |
254 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
255 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
256 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
257 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
258 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
259 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 260 | case 92: { |
6bc4a00a | 261 | if(gcode->get_num_args() == 0){ |
8a23b271 | 262 | clear_vector(this->last_milestone); |
6bc4a00a | 263 | }else{ |
eaf8a8a8 BG |
264 | for (char letter = 'X'; letter <= 'Z'; letter++){ |
265 | if ( gcode->has_letter(letter) ) | |
6bc4a00a | 266 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); |
eaf8a8a8 | 267 | } |
6bc4a00a | 268 | } |
1ad23cd3 | 269 | memcpy(this->current_position, this->last_milestone, sizeof(float)*3); // current_position[] = last_milestone[]; |
78d0e16a MM |
270 | |
271 | // TODO: handle any number of actuators | |
272 | float actuator_pos[3]; | |
273 | arm_solution->cartesian_to_actuator(current_position, actuator_pos); | |
274 | ||
275 | for (int i = 0; i < 3; i++) | |
276 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
277 | ||
74b6303c | 278 | gcode->mark_as_taken(); |
78d0e16a | 279 | return; |
6bc4a00a MM |
280 | } |
281 | } | |
3c4f2dd8 | 282 | }else if( gcode->has_m){ |
33e4cc02 | 283 | switch( gcode->m ){ |
0fb5b438 | 284 | case 92: // M92 - set steps per mm |
0fb5b438 | 285 | if (gcode->has_letter('X')) |
78d0e16a | 286 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 287 | if (gcode->has_letter('Y')) |
78d0e16a | 288 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 289 | if (gcode->has_letter('Z')) |
78d0e16a | 290 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
291 | if (gcode->has_letter('F')) |
292 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
293 | |
294 | 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 | 295 | gcode->add_nl = true; |
74b6303c | 296 | gcode->mark_as_taken(); |
0fb5b438 | 297 | return; |
58d6d841 | 298 | case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ", |
bce9410e MM |
299 | from_millimeters(this->current_position[0]), |
300 | from_millimeters(this->current_position[1]), | |
301 | from_millimeters(this->current_position[2])); | |
6989211c | 302 | gcode->add_nl = true; |
74b6303c | 303 | gcode->mark_as_taken(); |
6989211c | 304 | return; |
33e4cc02 | 305 | |
494dc541 | 306 | // TODO I'm not sure if the following is safe to do here, or should it go on the block queue? |
d4ee6ee2 JM |
307 | case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported |
308 | gcode->mark_as_taken(); | |
309 | if (gcode->has_letter('S')) | |
310 | { | |
1ad23cd3 | 311 | float acc= gcode->get_value('S') * 60 * 60; // mm/min^2 |
d4ee6ee2 JM |
312 | // enforce minimum |
313 | if (acc < 1.0) | |
314 | acc = 1.0; | |
314ab8f7 | 315 | THEKERNEL->planner->acceleration= acc; |
d4ee6ee2 JM |
316 | } |
317 | break; | |
318 | ||
8b69c90d | 319 | case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed |
d4ee6ee2 JM |
320 | gcode->mark_as_taken(); |
321 | if (gcode->has_letter('X')) | |
322 | { | |
1ad23cd3 | 323 | float jd= gcode->get_value('X'); |
d4ee6ee2 | 324 | // enforce minimum |
8b69c90d JM |
325 | if (jd < 0.0F) |
326 | jd = 0.0F; | |
314ab8f7 | 327 | THEKERNEL->planner->junction_deviation= jd; |
d4ee6ee2 | 328 | } |
8b69c90d JM |
329 | if (gcode->has_letter('S')) |
330 | { | |
331 | float mps= gcode->get_value('S'); | |
332 | // enforce minimum | |
333 | if (mps < 0.0F) | |
334 | mps = 0.0F; | |
335 | THEKERNEL->planner->minimum_planner_speed= mps; | |
336 | } | |
d4ee6ee2 | 337 | break; |
98761c28 | 338 | |
7369629d | 339 | case 220: // M220 - speed override percentage |
74b6303c | 340 | gcode->mark_as_taken(); |
7369629d MM |
341 | if (gcode->has_letter('S')) |
342 | { | |
1ad23cd3 | 343 | float factor = gcode->get_value('S'); |
98761c28 JM |
344 | // enforce minimum 10% speed |
345 | if (factor < 10.0) | |
346 | factor = 10.0; | |
7369629d MM |
347 | seconds_per_minute = factor * 0.6; |
348 | } | |
b4f56013 | 349 | break; |
ec4773e5 | 350 | |
494dc541 JM |
351 | case 400: // wait until all moves are done up to this point |
352 | gcode->mark_as_taken(); | |
314ab8f7 | 353 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
354 | break; |
355 | ||
33e4cc02 JM |
356 | case 500: // M500 saves some volatile settings to config override file |
357 | case 503: // M503 just prints the settings | |
78d0e16a | 358 | 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 | 359 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration/3600); |
8b69c90d | 360 | 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 |
361 | gcode->mark_as_taken(); |
362 | break; | |
363 | ||
ec4773e5 JM |
364 | case 665: // M665 set optional arm solution variables based on arm solution |
365 | gcode->mark_as_taken(); | |
366 | // the parameter args could be any letter so try each one | |
367 | for(char c='A';c<='Z';c++) { | |
1ad23cd3 | 368 | float v; |
ec4773e5 JM |
369 | bool supported= arm_solution->get_optional(c, &v); // retrieve current value if supported |
370 | ||
371 | if(supported && gcode->has_letter(c)) { // set new value if supported | |
372 | v= gcode->get_value(c); | |
373 | arm_solution->set_optional(c, v); | |
374 | } | |
375 | if(supported) { // print all current values of supported options | |
5523c05d JM |
376 | gcode->stream->printf("%c %8.3f ", c, v); |
377 | gcode->add_nl = true; | |
ec4773e5 JM |
378 | } |
379 | } | |
380 | break; | |
381 | ||
6989211c | 382 | } |
494dc541 JM |
383 | } |
384 | ||
c83887ea MM |
385 | if( this->motion_mode < 0) |
386 | return; | |
6bc4a00a | 387 | |
4cff3ded | 388 | //Get parameters |
1ad23cd3 | 389 | float target[3], offset[3]; |
c2885de8 | 390 | clear_vector(offset); |
6bc4a00a | 391 | |
4cff3ded | 392 | memcpy(target, this->current_position, sizeof(target)); //default to last target |
6bc4a00a | 393 | |
c2885de8 JM |
394 | for(char letter = 'I'; letter <= 'K'; letter++){ |
395 | if( gcode->has_letter(letter) ){ | |
396 | offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); | |
397 | } | |
398 | } | |
399 | for(char letter = 'X'; letter <= 'Z'; letter++){ | |
400 | if( gcode->has_letter(letter) ){ | |
401 | target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); | |
402 | } | |
403 | } | |
6bc4a00a | 404 | |
7369629d MM |
405 | if( gcode->has_letter('F') ) |
406 | { | |
407 | if( this->motion_mode == MOTION_MODE_SEEK ) | |
c2885de8 | 408 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F; |
7369629d | 409 | else |
c2885de8 | 410 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F; |
7369629d | 411 | } |
6bc4a00a | 412 | |
4cff3ded AW |
413 | //Perform any physical actions |
414 | switch( next_action ){ | |
415 | case NEXT_ACTION_DEFAULT: | |
416 | switch(this->motion_mode){ | |
417 | case MOTION_MODE_CANCEL: break; | |
436a2cd1 AW |
418 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; |
419 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; | |
df27a6a3 | 420 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
4cff3ded AW |
421 | } |
422 | break; | |
423 | } | |
13e4a3f9 | 424 | |
4cff3ded AW |
425 | // As far as the parser is concerned, the position is now == target. In reality the |
426 | // motion control system might still be processing the action and the real tool position | |
427 | // in any intermediate location. | |
c2885de8 | 428 | memcpy(this->current_position, target, sizeof(this->current_position)); // this->position[] = target[]; |
4cff3ded | 429 | |
edac9072 AW |
430 | } |
431 | ||
5984acdf | 432 | // We received a new gcode, and one of the functions |
edac9072 AW |
433 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
434 | // and continue | |
435 | void Robot::distance_in_gcode_is_known(Gcode* gcode){ | |
436 | ||
437 | //If the queue is empty, execute immediatly, otherwise attach to the last added block | |
e0ee24ed | 438 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
439 | } |
440 | ||
441 | // Reset the position for all axes ( used in homing and G92 stuff ) | |
1ad23cd3 | 442 | void Robot::reset_axis_position(float position, int axis) { |
edac9072 | 443 | this->last_milestone[axis] = this->current_position[axis] = position; |
78d0e16a | 444 | actuators[axis]->change_last_milestone(position); |
4cff3ded AW |
445 | } |
446 | ||
edac9072 | 447 | |
4cff3ded | 448 | // Convert target from millimeters to steps, and append this to the planner |
df6a30f2 MM |
449 | void Robot::append_milestone( float target[], float rate ) |
450 | { | |
1ad23cd3 | 451 | float deltas[3]; |
df6a30f2 MM |
452 | float unit_vec[3]; |
453 | float actuator_pos[3]; | |
454 | float millimeters_of_travel; | |
455 | ||
456 | // find distance moved by each axis | |
457 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) | |
458 | deltas[axis] = target[axis] - last_milestone[axis]; | |
aab6cbba | 459 | |
edac9072 | 460 | // Compute how long this move moves, so we can attach it to the block for later use |
df6a30f2 MM |
461 | millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
462 | ||
463 | // find distance unit vector | |
464 | for (int i = 0; i < 3; i++) | |
465 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
466 | ||
467 | // Do not move faster than the configured cartesian limits | |
468 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) | |
469 | { | |
470 | if ( max_speeds[axis] > 0 ) | |
471 | { | |
472 | float axis_speed = fabs(unit_vec[axis] * rate) * seconds_per_minute; | |
473 | ||
474 | if (axis_speed > max_speeds[axis]) | |
475 | rate = rate * ( max_speeds[axis] / axis_speed ); | |
7b470506 AW |
476 | } |
477 | } | |
4cff3ded | 478 | |
df6a30f2 MM |
479 | // find actuator position given cartesian position |
480 | arm_solution->cartesian_to_actuator( target, actuator_pos ); | |
481 | ||
482 | // check per-actuator speed limits | |
483 | for (int actuator = 0; actuator <= 2; actuator++) | |
484 | { | |
485 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate / millimeters_of_travel; | |
486 | ||
487 | if (actuator_rate > actuators[actuator]->max_rate) | |
488 | rate *= (actuators[actuator]->max_rate / actuator_rate); | |
489 | } | |
490 | ||
edac9072 | 491 | // Append the block to the planner |
130275f1 | 492 | THEKERNEL->planner->append_block( actuator_pos, rate * seconds_per_minute, millimeters_of_travel, unit_vec ); |
4cff3ded | 493 | |
edac9072 | 494 | // Update the last_milestone to the current target for the next time we use last_milestone |
c2885de8 | 495 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
496 | |
497 | } | |
498 | ||
edac9072 | 499 | // Append a move to the queue ( cutting it into segments if needed ) |
1ad23cd3 | 500 | void Robot::append_line(Gcode* gcode, float target[], float rate ){ |
4cff3ded | 501 | |
edac9072 | 502 | // Find out the distance for this gcode |
13addf09 | 503 | 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 | 504 | |
edac9072 | 505 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
c2885de8 | 506 | if( gcode->millimeters_of_travel < 0.0001F ){ |
95b4885b JM |
507 | return; |
508 | } | |
436a2cd1 | 509 | |
edac9072 | 510 | // Mark the gcode as having a known distance |
5dcb2ff3 | 511 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 512 | |
4a0c8e14 JM |
513 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
514 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
515 | // 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 | 516 | uint16_t segments; |
5984acdf | 517 | |
c2885de8 | 518 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
519 | // enabled if set to something > 1, it is set to 0.0 by default |
520 | // segment based on current speed and requested segments per second | |
521 | // the faster the travel speed the fewer segments needed | |
522 | // NOTE rate is mm/sec and we take into account any speed override | |
523 | float seconds = 60.0/seconds_per_minute * gcode->millimeters_of_travel / rate; | |
524 | segments= max(1, ceil(this->delta_segments_per_second * seconds)); | |
525 | // TODO if we are only moving in Z on a delta we don't really need to segment at all | |
5984acdf | 526 | |
4a0c8e14 | 527 | }else{ |
c2885de8 | 528 | if(this->mm_per_line_segment == 0.0F){ |
4a0c8e14 JM |
529 | segments= 1; // don't split it up |
530 | }else{ | |
531 | segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); | |
532 | } | |
533 | } | |
5984acdf | 534 | |
4cff3ded | 535 | // A vector to keep track of the endpoint of each segment |
1ad23cd3 | 536 | float temp_target[3]; |
4cff3ded | 537 | //Initialize axes |
c2885de8 | 538 | memcpy( temp_target, this->current_position, sizeof(temp_target)); // temp_target[] = this->current_position[]; |
4cff3ded AW |
539 | |
540 | //For each segment | |
541 | for( int i=0; i<segments-1; i++ ){ | |
df27a6a3 | 542 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } |
5984acdf | 543 | // Append the end of this segment to the queue |
df27a6a3 | 544 | this->append_milestone(temp_target, rate); |
4cff3ded | 545 | } |
5984acdf MM |
546 | |
547 | // Append the end of this full move to the queue | |
4cff3ded | 548 | this->append_milestone(target, rate); |
2134bcf2 MM |
549 | |
550 | // if adding these blocks didn't start executing, do that now | |
551 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
552 | } |
553 | ||
4cff3ded | 554 | |
edac9072 | 555 | // Append an arc to the queue ( cutting it into segments as needed ) |
1ad23cd3 | 556 | void Robot::append_arc(Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ){ |
aab6cbba | 557 | |
edac9072 | 558 | // Scary math |
1ad23cd3 MM |
559 | float center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; |
560 | float center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
561 | float linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; | |
562 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location | |
563 | float r_axis1 = -offset[this->plane_axis_1]; | |
564 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
565 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba AW |
566 | |
567 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
1ad23cd3 | 568 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
aab6cbba AW |
569 | if (angular_travel < 0) { angular_travel += 2*M_PI; } |
570 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
571 | ||
edac9072 | 572 | // Find the distance for this gcode |
13addf09 | 573 | gcode->millimeters_of_travel = hypotf(angular_travel*radius, fabs(linear_travel)); |
436a2cd1 | 574 | |
edac9072 | 575 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
c2885de8 | 576 | if( gcode->millimeters_of_travel < 0.0001F ){ return; } |
5dcb2ff3 | 577 | |
edac9072 | 578 | // Mark the gcode as having a known distance |
d149c730 | 579 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
580 | |
581 | // Figure out how many segments for this gcode | |
436a2cd1 | 582 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
aab6cbba | 583 | |
1ad23cd3 MM |
584 | float theta_per_segment = angular_travel/segments; |
585 | float linear_per_segment = linear_travel/segments; | |
aab6cbba AW |
586 | |
587 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
588 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
589 | r_T = [cos(phi) -sin(phi); | |
590 | sin(phi) cos(phi] * r ; | |
591 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
592 | defined from the circle center to the initial position. Each line segment is formed by successive | |
593 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
594 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 595 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
596 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
597 | tool precision in some cases. Therefore, arc path correction is implemented. | |
598 | ||
599 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
600 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
601 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
602 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
603 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
604 | issue for CNC machines with the single precision Arduino calculations. | |
605 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
606 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
607 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
608 | This is important when there are successive arc motions. | |
609 | */ | |
610 | // Vector rotation matrix values | |
c2885de8 | 611 | float cos_T = 1-0.5F*theta_per_segment*theta_per_segment; // Small angle approximation |
1ad23cd3 | 612 | float sin_T = theta_per_segment; |
aab6cbba | 613 | |
1ad23cd3 MM |
614 | float arc_target[3]; |
615 | float sin_Ti; | |
616 | float cos_Ti; | |
617 | float r_axisi; | |
aab6cbba AW |
618 | uint16_t i; |
619 | int8_t count = 0; | |
620 | ||
621 | // Initialize the linear axis | |
622 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; | |
623 | ||
624 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
625 | ||
b66fb830 | 626 | if (count < this->arc_correction ) { |
aab6cbba AW |
627 | // Apply vector rotation matrix |
628 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
629 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
630 | r_axis1 = r_axisi; | |
631 | count++; | |
632 | } else { | |
633 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
634 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
13addf09 MM |
635 | cos_Ti = cosf(i*theta_per_segment); |
636 | sin_Ti = sinf(i*theta_per_segment); | |
aab6cbba AW |
637 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; |
638 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
639 | count = 0; | |
640 | } | |
641 | ||
642 | // Update arc_target location | |
643 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
644 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
645 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
646 | |
647 | // Append this segment to the queue | |
aab6cbba AW |
648 | this->append_milestone(arc_target, this->feed_rate); |
649 | ||
650 | } | |
edac9072 | 651 | |
aab6cbba AW |
652 | // Ensure last segment arrives at target location. |
653 | this->append_milestone(target, this->feed_rate); | |
654 | } | |
655 | ||
edac9072 | 656 | // Do the math for an arc and add it to the queue |
1ad23cd3 | 657 | void Robot::compute_arc(Gcode* gcode, float offset[], float target[]){ |
aab6cbba AW |
658 | |
659 | // Find the radius | |
13addf09 | 660 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
661 | |
662 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
663 | bool is_clockwise = false; | |
df27a6a3 | 664 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
aab6cbba AW |
665 | |
666 | // Append arc | |
436a2cd1 | 667 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
668 | |
669 | } | |
670 | ||
671 | ||
1ad23cd3 | 672 | float Robot::theta(float x, float y){ |
71c21c73 | 673 | float t = atanf(x/fabs(y)); |
4cff3ded AW |
674 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} |
675 | } | |
676 | ||
677 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
678 | this->plane_axis_0 = axis_0; | |
679 | this->plane_axis_1 = axis_1; | |
680 | this->plane_axis_2 = axis_2; | |
681 | } | |
682 | ||
683 |