Commit | Line | Data |
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df27a6a3 | 1 | /* |
aab6cbba | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
4cff3ded AW |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
5673fe39 | 10 | |
29e809e0 | 11 | #include "Robot.h" |
4cff3ded | 12 | #include "Planner.h" |
3fceb8eb | 13 | #include "Conveyor.h" |
5673fe39 MM |
14 | #include "Pin.h" |
15 | #include "StepperMotor.h" | |
16 | #include "Gcode.h" | |
5647f709 | 17 | #include "PublicDataRequest.h" |
928467c0 | 18 | #include "PublicData.h" |
4cff3ded AW |
19 | #include "arm_solutions/BaseSolution.h" |
20 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 21 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 22 | #include "arm_solutions/LinearDeltaSolution.h" |
11a39396 | 23 | #include "arm_solutions/RotaryDeltaSolution.h" |
bdaaa75d | 24 | #include "arm_solutions/HBotSolution.h" |
fff1e42d | 25 | #include "arm_solutions/CoreXZSolution.h" |
1217e470 | 26 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 27 | #include "StepTicker.h" |
7af0714f JM |
28 | #include "checksumm.h" |
29 | #include "utils.h" | |
8d54c34c | 30 | #include "ConfigValue.h" |
5966b7d0 | 31 | #include "libs/StreamOutput.h" |
dd0a7cfa | 32 | #include "StreamOutputPool.h" |
928467c0 | 33 | #include "ExtruderPublicAccess.h" |
0ec2f63a | 34 | #include "GcodeDispatch.h" |
13ad7234 | 35 | #include "ActuatorCoordinates.h" |
0ec2f63a | 36 | |
29e809e0 JM |
37 | #include "mbed.h" // for us_ticker_read() |
38 | #include "mri.h" | |
39 | ||
40 | #include <fastmath.h> | |
41 | #include <string> | |
42 | #include <algorithm> | |
38bf9a1c | 43 | |
78d0e16a MM |
44 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
45 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
46 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
47 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
48 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
83c6e067 | 49 | #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error") |
78d0e16a MM |
50 | #define arc_correction_checksum CHECKSUM("arc_correction") |
51 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
52 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
53 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
a3e1326a | 54 | #define segment_z_moves_checksum CHECKSUM("segment_z_moves") |
3aad33c7 | 55 | #define save_g92_checksum CHECKSUM("save_g92") |
39280f30 | 56 | #define set_g92_checksum CHECKSUM("set_g92") |
43424972 JM |
57 | |
58 | // arm solutions | |
78d0e16a MM |
59 | #define arm_solution_checksum CHECKSUM("arm_solution") |
60 | #define cartesian_checksum CHECKSUM("cartesian") | |
61 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
62 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 63 | #define linear_delta_checksum CHECKSUM("linear_delta") |
11a39396 | 64 | #define rotary_delta_checksum CHECKSUM("rotary_delta") |
78d0e16a MM |
65 | #define delta_checksum CHECKSUM("delta") |
66 | #define hbot_checksum CHECKSUM("hbot") | |
67 | #define corexy_checksum CHECKSUM("corexy") | |
fff1e42d | 68 | #define corexz_checksum CHECKSUM("corexz") |
78d0e16a | 69 | #define kossel_checksum CHECKSUM("kossel") |
1217e470 | 70 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a | 71 | |
78d0e16a MM |
72 | // new-style actuator stuff |
73 | #define actuator_checksum CHEKCSUM("actuator") | |
74 | ||
75 | #define step_pin_checksum CHECKSUM("step_pin") | |
76 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
77 | #define en_pin_checksum CHECKSUM("en_pin") | |
78 | ||
79 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 80 | #define max_rate_checksum CHECKSUM("max_rate") |
29e809e0 JM |
81 | #define acceleration_checksum CHECKSUM("acceleration") |
82 | #define z_acceleration_checksum CHECKSUM("z_acceleration") | |
78d0e16a MM |
83 | |
84 | #define alpha_checksum CHECKSUM("alpha") | |
85 | #define beta_checksum CHECKSUM("beta") | |
86 | #define gamma_checksum CHECKSUM("gamma") | |
87 | ||
507b2403 JM |
88 | #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power") |
89 | ||
29e809e0 JM |
90 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians) |
91 | #define PI 3.14159265358979323846F // force to be float, do not use M_PI | |
5fa0c173 | 92 | |
edac9072 AW |
93 | // 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 |
94 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
95 | ||
4710532a JM |
96 | Robot::Robot() |
97 | { | |
a1b7e9f0 | 98 | this->inch_mode = false; |
0e8b102e | 99 | this->absolute_mode = true; |
29e809e0 | 100 | this->e_absolute_mode = true; |
4cff3ded | 101 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
45ca77ec JM |
102 | memset(this->machine_position, 0, sizeof machine_position); |
103 | memset(this->compensated_machine_position, 0, sizeof compensated_machine_position); | |
0b804a41 | 104 | this->arm_solution = NULL; |
da947c62 | 105 | seconds_per_minute = 60.0F; |
fae93525 | 106 | this->clearToolOffset(); |
03b01bac | 107 | this->compensationTransform = nullptr; |
121094a5 | 108 | this->get_e_scale_fnc= nullptr; |
03b01bac JM |
109 | this->wcs_offsets.fill(wcs_t(0.0F, 0.0F, 0.0F)); |
110 | this->g92_offset = wcs_t(0.0F, 0.0F, 0.0F); | |
a6bbe768 | 111 | this->next_command_is_MCS = false; |
778093ce | 112 | this->disable_segmentation= false; |
84cf4071 | 113 | this->disable_arm_solution= false; |
29e809e0 | 114 | this->n_motors= 0; |
4cff3ded AW |
115 | } |
116 | ||
117 | //Called when the module has just been loaded | |
4710532a JM |
118 | void Robot::on_module_loaded() |
119 | { | |
4cff3ded AW |
120 | this->register_for_event(ON_GCODE_RECEIVED); |
121 | ||
122 | // Configuration | |
807b9b57 | 123 | this->load_config(); |
da24d6ae AW |
124 | } |
125 | ||
807b9b57 JM |
126 | #define ACTUATOR_CHECKSUMS(X) { \ |
127 | CHECKSUM(X "_step_pin"), \ | |
128 | CHECKSUM(X "_dir_pin"), \ | |
129 | CHECKSUM(X "_en_pin"), \ | |
130 | CHECKSUM(X "_steps_per_mm"), \ | |
29e809e0 JM |
131 | CHECKSUM(X "_max_rate"), \ |
132 | CHECKSUM(X "_acceleration") \ | |
807b9b57 | 133 | } |
5984acdf | 134 | |
807b9b57 JM |
135 | void Robot::load_config() |
136 | { | |
edac9072 AW |
137 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
138 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
139 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 140 | // Here we read the config to find out which arm solution to use |
0b804a41 | 141 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 142 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 143 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 144 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 145 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 146 | |
fff1e42d JJ |
147 | } else if(solution_checksum == corexz_checksum) { |
148 | this->arm_solution = new CoreXZSolution(THEKERNEL->config); | |
149 | ||
2a06c415 JM |
150 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
151 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 152 | |
4710532a | 153 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 154 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 155 | |
11a39396 JM |
156 | } else if(solution_checksum == rotary_delta_checksum) { |
157 | this->arm_solution = new RotaryDeltaSolution(THEKERNEL->config); | |
c52b8675 | 158 | |
1217e470 QH |
159 | } else if(solution_checksum == morgan_checksum) { |
160 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
161 | ||
4710532a | 162 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 163 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 164 | |
4710532a | 165 | } else { |
314ab8f7 | 166 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 167 | } |
73a4e3c0 | 168 | |
6b661ab3 DP |
169 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
170 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
171 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
172 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
b259f517 | 173 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.0f)->as_number(); |
4d0f60a9 | 174 | this->mm_max_arc_error = THEKERNEL->config->value(mm_max_arc_error_checksum )->by_default( 0.01f)->as_number(); |
6b661ab3 | 175 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); |
78d0e16a | 176 | |
29e809e0 | 177 | // in mm/sec but specified in config as mm/min |
6b661ab3 DP |
178 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
179 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
180 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 181 | |
a3e1326a | 182 | this->segment_z_moves = THEKERNEL->config->value(segment_z_moves_checksum )->by_default(true)->as_bool(); |
3aad33c7 | 183 | this->save_g92 = THEKERNEL->config->value(save_g92_checksum )->by_default(false)->as_bool(); |
39280f30 JM |
184 | string g92 = THEKERNEL->config->value(set_g92_checksum )->by_default("")->as_string(); |
185 | if(!g92.empty()) { | |
186 | // optional setting for a fixed G92 offset | |
187 | std::vector<float> t= parse_number_list(g92.c_str()); | |
188 | if(t.size() == 3) { | |
189 | g92_offset = wcs_t(t[0], t[1], t[2]); | |
190 | } | |
191 | } | |
a3e1326a | 192 | |
507b2403 JM |
193 | // default s value for laser |
194 | this->s_value = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(0.8F)->as_number(); | |
195 | ||
319e12fc | 196 | // Make our Primary XYZ StepperMotors, and potentially A B C |
29e809e0 JM |
197 | uint16_t const checksums[][6] = { |
198 | ACTUATOR_CHECKSUMS("alpha"), // X | |
199 | ACTUATOR_CHECKSUMS("beta"), // Y | |
200 | ACTUATOR_CHECKSUMS("gamma"), // Z | |
37b7b898 JM |
201 | #if MAX_ROBOT_ACTUATORS > 3 |
202 | ACTUATOR_CHECKSUMS("delta"), // A | |
203 | #if MAX_ROBOT_ACTUATORS > 4 | |
204 | ACTUATOR_CHECKSUMS("epsilon"), // B | |
205 | #if MAX_ROBOT_ACTUATORS > 5 | |
206 | ACTUATOR_CHECKSUMS("zeta") // C | |
207 | #endif | |
208 | #endif | |
209 | #endif | |
807b9b57 | 210 | }; |
807b9b57 | 211 | |
29e809e0 JM |
212 | // default acceleration setting, can be overriden with newer per axis settings |
213 | this->default_acceleration= THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2 | |
214 | ||
215 | // make each motor | |
37b7b898 | 216 | for (size_t a = 0; a < MAX_ROBOT_ACTUATORS; a++) { |
807b9b57 JM |
217 | Pin pins[3]; //step, dir, enable |
218 | for (size_t i = 0; i < 3; i++) { | |
219 | pins[i].from_string(THEKERNEL->config->value(checksums[a][i])->by_default("nc")->as_string())->as_output(); | |
96ef0809 JM |
220 | } |
221 | ||
222 | if(!pins[0].connected() || !pins[1].connected() || !pins[2].connected()) { | |
223 | if(a <= Z_AXIS) THEKERNEL->streams->printf("FATAL: motor %d is not defined in config\n", 'X'+a); | |
224 | break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order) | |
807b9b57 | 225 | } |
37b7b898 | 226 | |
29e809e0 JM |
227 | StepperMotor *sm = new StepperMotor(pins[0], pins[1], pins[2]); |
228 | // register this motor (NB This must be 0,1,2) of the actuators array | |
229 | uint8_t n= register_motor(sm); | |
230 | if(n != a) { | |
231 | // this is a fatal error | |
232 | THEKERNEL->streams->printf("FATAL: motor %d does not match index %d\n", n, a); | |
233 | __debugbreak(); | |
234 | } | |
78d0e16a | 235 | |
03b01bac | 236 | actuators[a]->change_steps_per_mm(THEKERNEL->config->value(checksums[a][3])->by_default(a == 2 ? 2560.0F : 80.0F)->as_number()); |
3702f300 | 237 | actuators[a]->set_max_rate(THEKERNEL->config->value(checksums[a][4])->by_default(30000.0F)->as_number()/60.0F); // it is in mm/min and converted to mm/sec |
29e809e0 | 238 | actuators[a]->set_acceleration(THEKERNEL->config->value(checksums[a][5])->by_default(NAN)->as_number()); // mm/secs² |
807b9b57 | 239 | } |
a84f0186 | 240 | |
dd0a7cfa | 241 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 242 | |
29e809e0 JM |
243 | // if we have not specified a z acceleration see if the legacy config was set |
244 | if(isnan(actuators[Z_AXIS]->get_acceleration())) { | |
245 | float acc= THEKERNEL->config->value(z_acceleration_checksum)->by_default(NAN)->as_number(); // disabled by default | |
246 | if(!isnan(acc)) { | |
247 | actuators[Z_AXIS]->set_acceleration(acc); | |
248 | } | |
249 | } | |
250 | ||
975469ad MM |
251 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
252 | // so the first move can be correct if homing is not performed | |
807b9b57 | 253 | ActuatorCoordinates actuator_pos; |
45ca77ec | 254 | arm_solution->cartesian_to_actuator(machine_position, actuator_pos); |
29e809e0 | 255 | for (size_t i = 0; i < n_motors; i++) |
975469ad | 256 | actuators[i]->change_last_milestone(actuator_pos[i]); |
5966b7d0 AT |
257 | |
258 | //this->clearToolOffset(); | |
4cff3ded AW |
259 | } |
260 | ||
29e809e0 JM |
261 | uint8_t Robot::register_motor(StepperMotor *motor) |
262 | { | |
263 | // register this motor with the step ticker | |
264 | THEKERNEL->step_ticker->register_motor(motor); | |
265 | if(n_motors >= k_max_actuators) { | |
266 | // this is a fatal error | |
267 | THEKERNEL->streams->printf("FATAL: too many motors, increase k_max_actuators\n"); | |
268 | __debugbreak(); | |
269 | } | |
2cd32d70 | 270 | actuators.push_back(motor); |
8e30d648 | 271 | motor->set_motor_id(n_motors); |
2cd32d70 | 272 | return n_motors++; |
29e809e0 JM |
273 | } |
274 | ||
212caccd JM |
275 | void Robot::push_state() |
276 | { | |
03b01bac | 277 | bool am = this->absolute_mode; |
29e809e0 | 278 | bool em = this->e_absolute_mode; |
03b01bac | 279 | bool im = this->inch_mode; |
29e809e0 | 280 | saved_state_t s(this->feed_rate, this->seek_rate, am, em, im, current_wcs); |
212caccd JM |
281 | state_stack.push(s); |
282 | } | |
283 | ||
284 | void Robot::pop_state() | |
285 | { | |
03b01bac JM |
286 | if(!state_stack.empty()) { |
287 | auto s = state_stack.top(); | |
212caccd | 288 | state_stack.pop(); |
03b01bac JM |
289 | this->feed_rate = std::get<0>(s); |
290 | this->seek_rate = std::get<1>(s); | |
291 | this->absolute_mode = std::get<2>(s); | |
29e809e0 JM |
292 | this->e_absolute_mode = std::get<3>(s); |
293 | this->inch_mode = std::get<4>(s); | |
294 | this->current_wcs = std::get<5>(s); | |
212caccd JM |
295 | } |
296 | } | |
297 | ||
34210908 JM |
298 | std::vector<Robot::wcs_t> Robot::get_wcs_state() const |
299 | { | |
300 | std::vector<wcs_t> v; | |
0b8b81b6 | 301 | v.push_back(wcs_t(current_wcs, MAX_WCS, 0)); |
34210908 JM |
302 | for(auto& i : wcs_offsets) { |
303 | v.push_back(i); | |
304 | } | |
305 | v.push_back(g92_offset); | |
306 | v.push_back(tool_offset); | |
307 | return v; | |
308 | } | |
309 | ||
fdfa00d2 JM |
310 | void Robot::get_current_machine_position(float *pos) const |
311 | { | |
312 | // get real time current actuator position in mm | |
313 | ActuatorCoordinates current_position{ | |
314 | actuators[X_AXIS]->get_current_position(), | |
315 | actuators[Y_AXIS]->get_current_position(), | |
316 | actuators[Z_AXIS]->get_current_position() | |
317 | }; | |
318 | ||
319 | // get machine position from the actuator position using FK | |
320 | arm_solution->actuator_to_cartesian(current_position, pos); | |
321 | } | |
322 | ||
e03f2747 | 323 | int Robot::print_position(uint8_t subcode, char *buf, size_t bufsize) const |
2791c829 JM |
324 | { |
325 | // M114.1 is a new way to do this (similar to how GRBL does it). | |
326 | // it returns the realtime position based on the current step position of the actuators. | |
327 | // this does require a FK to get a machine position from the actuator position | |
328 | // and then invert all the transforms to get a workspace position from machine position | |
45ca77ec | 329 | // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position |
2791c829 | 330 | int n = 0; |
e03f2747 | 331 | if(subcode == 0) { // M114 print WCS |
45ca77ec | 332 | wcs_t pos= mcs2wcs(machine_position); |
31c6c2c2 | 333 | n = snprintf(buf, bufsize, "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 334 | |
81c3ecbf JM |
335 | } else if(subcode == 4) { |
336 | // M114.4 print last milestone | |
45ca77ec | 337 | n = snprintf(buf, bufsize, "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position[X_AXIS], machine_position[Y_AXIS], machine_position[Z_AXIS]); |
2791c829 | 338 | |
81c3ecbf JM |
339 | } else if(subcode == 5) { |
340 | // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation) | |
341 | // will differ from LMS by the compensation at the current position otherwise | |
45ca77ec | 342 | n = snprintf(buf, bufsize, "CMP: X:%1.4f Y:%1.4f Z:%1.4f", compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
2791c829 JM |
343 | |
344 | } else { | |
345 | // get real time positions | |
2791c829 | 346 | float mpos[3]; |
fdfa00d2 JM |
347 | get_current_machine_position(mpos); |
348 | ||
8fe38353 JM |
349 | // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position |
350 | if(compensationTransform) compensationTransform(mpos, true); // get inverse compensation transform | |
2791c829 | 351 | |
e03f2747 | 352 | if(subcode == 1) { // M114.1 print realtime WCS |
2791c829 | 353 | wcs_t pos= mcs2wcs(mpos); |
fdfa00d2 | 354 | n = snprintf(buf, bufsize, "WCS: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get<X_AXIS>(pos)), from_millimeters(std::get<Y_AXIS>(pos)), from_millimeters(std::get<Z_AXIS>(pos))); |
2791c829 | 355 | |
df4574e0 | 356 | } else if(subcode == 2) { // M114.2 print realtime Machine coordinate system |
fdfa00d2 | 357 | n = snprintf(buf, bufsize, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos[X_AXIS], mpos[Y_AXIS], mpos[Z_AXIS]); |
2791c829 | 358 | |
df4574e0 | 359 | } else if(subcode == 3) { // M114.3 print realtime actuator position |
fdfa00d2 JM |
360 | // get real time current actuator position in mm |
361 | ActuatorCoordinates current_position{ | |
362 | actuators[X_AXIS]->get_current_position(), | |
363 | actuators[Y_AXIS]->get_current_position(), | |
364 | actuators[Z_AXIS]->get_current_position() | |
365 | }; | |
55783268 | 366 | n = snprintf(buf, bufsize, "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); |
2791c829 JM |
367 | } |
368 | } | |
96ef0809 JM |
369 | |
370 | #if MAX_ROBOT_ACTUATORS > 3 | |
371 | // deal with the ABC axis | |
372 | for (int i = A_AXIS; i < n_motors; ++i) { | |
5acc50ad | 373 | if(actuators[i]->is_extruder()) continue; // don't show an extruder as that will be E |
96ef0809 | 374 | if(subcode == 4) { // M114.4 print last milestone |
5acc50ad | 375 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, machine_position[i]); |
96ef0809 | 376 | |
866eaaba | 377 | }else if(subcode == 2 || subcode == 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC |
96ef0809 | 378 | // current actuator position |
5acc50ad | 379 | n += snprintf(&buf[n], bufsize-n, " %c:%1.4f", 'A'+i-A_AXIS, actuators[i]->get_current_position()); |
96ef0809 JM |
380 | } |
381 | } | |
382 | #endif | |
383 | ||
e03f2747 | 384 | return n; |
2791c829 JM |
385 | } |
386 | ||
dc27139b | 387 | // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform) |
31c6c2c2 | 388 | Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const |
dc27139b JM |
389 | { |
390 | return std::make_tuple( | |
31c6c2c2 JM |
391 | std::get<X_AXIS>(pos) - std::get<X_AXIS>(wcs_offsets[current_wcs]) + std::get<X_AXIS>(g92_offset) - std::get<X_AXIS>(tool_offset), |
392 | std::get<Y_AXIS>(pos) - std::get<Y_AXIS>(wcs_offsets[current_wcs]) + std::get<Y_AXIS>(g92_offset) - std::get<Y_AXIS>(tool_offset), | |
393 | std::get<Z_AXIS>(pos) - std::get<Z_AXIS>(wcs_offsets[current_wcs]) + std::get<Z_AXIS>(g92_offset) - std::get<Z_AXIS>(tool_offset) | |
dc27139b JM |
394 | ); |
395 | } | |
396 | ||
dd0a7cfa JM |
397 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
398 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
399 | void Robot::check_max_actuator_speeds() | |
400 | { | |
29e809e0 | 401 | for (size_t i = 0; i < n_motors; i++) { |
807b9b57 JM |
402 | float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm(); |
403 | if (step_freq > THEKERNEL->base_stepping_frequency) { | |
404 | actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm())); | |
ad6a77d1 | 405 | THEKERNEL->streams->printf("WARNING: actuator %d rate exceeds base_stepping_frequency * ..._steps_per_mm: %f, setting to %f\n", i, step_freq, actuators[i]->get_max_rate()); |
807b9b57 | 406 | } |
dd0a7cfa JM |
407 | } |
408 | } | |
409 | ||
4cff3ded | 410 | //A GCode has been received |
edac9072 | 411 | //See if the current Gcode line has some orders for us |
4710532a JM |
412 | void Robot::on_gcode_received(void *argument) |
413 | { | |
414 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 415 | |
29e809e0 | 416 | enum MOTION_MODE_T motion_mode= NONE; |
4cff3ded | 417 | |
4710532a JM |
418 | if( gcode->has_g) { |
419 | switch( gcode->g ) { | |
29e809e0 JM |
420 | case 0: motion_mode = SEEK; break; |
421 | case 1: motion_mode = LINEAR; break; | |
422 | case 2: motion_mode = CW_ARC; break; | |
423 | case 3: motion_mode = CCW_ARC; break; | |
df0783b7 | 424 | case 4: { // G4 Dwell |
03b01bac | 425 | uint32_t delay_ms = 0; |
c3df978d | 426 | if (gcode->has_letter('P')) { |
df0783b7 JM |
427 | if(THEKERNEL->is_grbl_mode()) { |
428 | // in grbl mode (and linuxcnc) P is decimal seconds | |
429 | float f= gcode->get_value('P'); | |
430 | delay_ms= f * 1000.0F; | |
431 | ||
432 | }else{ | |
433 | // in reprap P is milliseconds, they always have to be different! | |
434 | delay_ms = gcode->get_int('P'); | |
435 | } | |
c3df978d JM |
436 | } |
437 | if (gcode->has_letter('S')) { | |
438 | delay_ms += gcode->get_int('S') * 1000; | |
439 | } | |
03b01bac | 440 | if (delay_ms > 0) { |
c3df978d | 441 | // drain queue |
04782655 | 442 | THEKERNEL->conveyor->wait_for_idle(); |
c3df978d | 443 | // wait for specified time |
03b01bac JM |
444 | uint32_t start = us_ticker_read(); // mbed call |
445 | while ((us_ticker_read() - start) < delay_ms * 1000) { | |
c3df978d | 446 | THEKERNEL->call_event(ON_IDLE, this); |
c2f7c261 | 447 | if(THEKERNEL->is_halted()) return; |
c3df978d JM |
448 | } |
449 | } | |
adba2978 | 450 | } |
6b661ab3 | 451 | break; |
807b9b57 | 452 | |
a6bbe768 | 453 | case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS |
00e607c7 | 454 | if(gcode->has_letter('L') && (gcode->get_int('L') == 2 || gcode->get_int('L') == 20) && gcode->has_letter('P')) { |
03b01bac JM |
455 | size_t n = gcode->get_uint('P'); |
456 | if(n == 0) n = current_wcs; // set current coordinate system | |
807b9b57 | 457 | else --n; |
0b8b81b6 | 458 | if(n < MAX_WCS) { |
807b9b57 | 459 | float x, y, z; |
03b01bac | 460 | std::tie(x, y, z) = wcs_offsets[n]; |
00e607c7 | 461 | if(gcode->get_int('L') == 20) { |
c2f7c261 | 462 | // this makes the current machine position (less compensation transform) the offset |
dc27139b | 463 | // get current position in WCS |
45ca77ec | 464 | wcs_t pos= mcs2wcs(machine_position); |
dc27139b JM |
465 | |
466 | if(gcode->has_letter('X')){ | |
467 | x -= to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
468 | } | |
469 | ||
470 | if(gcode->has_letter('Y')){ | |
471 | y -= to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
472 | } | |
473 | if(gcode->has_letter('Z')) { | |
474 | z -= to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
475 | } | |
476 | ||
a6bbe768 | 477 | } else { |
bb4e919a JM |
478 | if(absolute_mode) { |
479 | // the value is the offset from machine zero | |
480 | if(gcode->has_letter('X')) x = to_millimeters(gcode->get_value('X')); | |
481 | if(gcode->has_letter('Y')) y = to_millimeters(gcode->get_value('Y')); | |
482 | if(gcode->has_letter('Z')) z = to_millimeters(gcode->get_value('Z')); | |
483 | }else{ | |
484 | if(gcode->has_letter('X')) x += to_millimeters(gcode->get_value('X')); | |
485 | if(gcode->has_letter('Y')) y += to_millimeters(gcode->get_value('Y')); | |
486 | if(gcode->has_letter('Z')) z += to_millimeters(gcode->get_value('Z')); | |
487 | } | |
00e607c7 | 488 | } |
03b01bac | 489 | wcs_offsets[n] = wcs_t(x, y, z); |
807b9b57 JM |
490 | } |
491 | } | |
492 | break; | |
493 | ||
6e92ab91 JM |
494 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; |
495 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
496 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
497 | case 20: this->inch_mode = true; break; | |
498 | case 21: this->inch_mode = false; break; | |
807b9b57 JM |
499 | |
500 | case 54: case 55: case 56: case 57: case 58: case 59: | |
501 | // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3 | |
03b01bac | 502 | current_wcs = gcode->g - 54; |
807b9b57 JM |
503 | if(gcode->g == 59 && gcode->subcode > 0) { |
504 | current_wcs += gcode->subcode; | |
0b8b81b6 | 505 | if(current_wcs >= MAX_WCS) current_wcs = MAX_WCS - 1; |
807b9b57 JM |
506 | } |
507 | break; | |
508 | ||
29e809e0 JM |
509 | case 90: this->absolute_mode = true; this->e_absolute_mode = true; break; |
510 | case 91: this->absolute_mode = false; this->e_absolute_mode = false; break; | |
807b9b57 | 511 | |
0b804a41 | 512 | case 92: { |
a9e8c04b | 513 | if(gcode->subcode == 1 || gcode->subcode == 2 || gcode->get_num_args() == 0) { |
03b01bac JM |
514 | // reset G92 offsets to 0 |
515 | g92_offset = wcs_t(0, 0, 0); | |
516 | ||
cee8bc1d JM |
517 | } else if(gcode->subcode == 3) { |
518 | // initialize G92 to the specified values, only used for saving it with M500 | |
519 | float x= 0, y= 0, z= 0; | |
520 | if(gcode->has_letter('X')) x= gcode->get_value('X'); | |
521 | if(gcode->has_letter('Y')) y= gcode->get_value('Y'); | |
522 | if(gcode->has_letter('Z')) z= gcode->get_value('Z'); | |
523 | g92_offset = wcs_t(x, y, z); | |
524 | ||
4710532a | 525 | } else { |
61a3fa99 | 526 | // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are |
807b9b57 | 527 | float x, y, z; |
03b01bac | 528 | std::tie(x, y, z) = g92_offset; |
61a3fa99 | 529 | // get current position in WCS |
45ca77ec | 530 | wcs_t pos= mcs2wcs(machine_position); |
61a3fa99 JM |
531 | |
532 | // adjust g92 offset to make the current wpos == the value requested | |
533 | if(gcode->has_letter('X')){ | |
534 | x += to_millimeters(gcode->get_value('X')) - std::get<X_AXIS>(pos); | |
535 | } | |
dc27139b JM |
536 | if(gcode->has_letter('Y')){ |
537 | y += to_millimeters(gcode->get_value('Y')) - std::get<Y_AXIS>(pos); | |
538 | } | |
539 | if(gcode->has_letter('Z')) { | |
540 | z += to_millimeters(gcode->get_value('Z')) - std::get<Z_AXIS>(pos); | |
541 | } | |
03b01bac | 542 | g92_offset = wcs_t(x, y, z); |
6bc4a00a | 543 | } |
a6bbe768 | 544 | |
13ad7234 JM |
545 | #if MAX_ROBOT_ACTUATORS > 3 |
546 | if(gcode->subcode == 0 && (gcode->has_letter('E') || gcode->get_num_args() == 0)){ | |
547 | // reset the E position, legacy for 3d Printers to be reprap compatible | |
548 | // find the selected extruder | |
325ed08b JM |
549 | int selected_extruder= get_active_extruder(); |
550 | if(selected_extruder > 0) { | |
551 | float e= gcode->has_letter('E') ? gcode->get_value('E') : 0; | |
552 | machine_position[selected_extruder]= compensated_machine_position[selected_extruder]= e; | |
553 | actuators[selected_extruder]->change_last_milestone(get_e_scale_fnc ? e*get_e_scale_fnc() : e); | |
13ad7234 JM |
554 | } |
555 | } | |
556 | #endif | |
557 | ||
78d0e16a | 558 | return; |
4710532a JM |
559 | } |
560 | } | |
67a649dd | 561 | |
4710532a JM |
562 | } else if( gcode->has_m) { |
563 | switch( gcode->m ) { | |
20ed51b7 JM |
564 | // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold) |
565 | // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0); | |
566 | // break; | |
01a8d21a JM |
567 | |
568 | case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file) | |
569 | if(!THEKERNEL->is_grbl_mode()) break; | |
570 | // fall through to M2 | |
807b9b57 | 571 | case 2: // M2 end of program |
03b01bac JM |
572 | current_wcs = 0; |
573 | absolute_mode = true; | |
807b9b57 | 574 | break; |
9e6014a6 JM |
575 | case 17: |
576 | THEKERNEL->call_event(ON_ENABLE, (void*)1); // turn all enable pins on | |
577 | break; | |
578 | ||
d01fbc6f JM |
579 | case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off |
580 | if(gcode->get_num_args() > 0) { | |
581 | // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C | |
582 | uint32_t bm= 0; | |
583 | for (int i = 0; i < n_motors; ++i) { | |
584 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-3)); | |
585 | if(gcode->has_letter(axis)) bm |= (0x02<<i); // set appropriate bit | |
586 | } | |
559c0e6a JM |
587 | // handle E parameter as currently selected extruder ABC |
588 | if(gcode->has_letter('E')) { | |
325ed08b JM |
589 | // find first selected extruder |
590 | int i= get_active_extruder(); | |
591 | if(i > 0) { | |
592 | bm |= (0x02<<i); // set appropriate bit | |
559c0e6a JM |
593 | } |
594 | } | |
595 | ||
d01fbc6f JM |
596 | THEKERNEL->conveyor->wait_for_idle(); |
597 | THEKERNEL->call_event(ON_ENABLE, (void *)bm); | |
598 | break; | |
599 | } | |
600 | // fall through | |
9e6014a6 | 601 | case 84: |
04782655 | 602 | THEKERNEL->conveyor->wait_for_idle(); |
9e6014a6 JM |
603 | THEKERNEL->call_event(ON_ENABLE, nullptr); // turn all enable pins off |
604 | break; | |
807b9b57 | 605 | |
29e809e0 JM |
606 | case 82: e_absolute_mode= true; break; |
607 | case 83: e_absolute_mode= false; break; | |
608 | ||
0fb5b438 | 609 | case 92: // M92 - set steps per mm |
5acc50ad JM |
610 | for (int i = 0; i < n_motors; ++i) { |
611 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
612 | if(gcode->has_letter(axis)) { | |
613 | actuators[i]->change_steps_per_mm(this->to_millimeters(gcode->get_value(axis))); | |
614 | } | |
615 | gcode->stream->printf("%c:%f ", axis, actuators[i]->get_steps_per_mm()); | |
616 | } | |
0fb5b438 | 617 | gcode->add_nl = true; |
dd0a7cfa | 618 | check_max_actuator_speeds(); |
0fb5b438 | 619 | return; |
562db364 | 620 | |
e03f2747 JM |
621 | case 114:{ |
622 | char buf[64]; | |
623 | int n= print_position(gcode->subcode, buf, sizeof buf); | |
624 | if(n > 0) gcode->txt_after_ok.append(buf, n); | |
2791c829 | 625 | return; |
e03f2747 | 626 | } |
33e4cc02 | 627 | |
212caccd JM |
628 | case 120: // push state |
629 | push_state(); | |
630 | break; | |
562db364 JM |
631 | |
632 | case 121: // pop state | |
212caccd | 633 | pop_state(); |
562db364 JM |
634 | break; |
635 | ||
125b71ce JM |
636 | case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates |
637 | if(gcode->get_num_args() == 0) { | |
638 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
55783268 | 639 | gcode->stream->printf(" %c: %g ", 'X' + i, gcode->subcode == 0 ? this->max_speeds[i] : actuators[i]->get_max_rate()); |
125b71ce | 640 | } |
5acc50ad JM |
641 | if(gcode->subcode == 1) { |
642 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
643 | gcode->stream->printf(" %c: %g ", 'A' + i - A_AXIS, actuators[i]->get_max_rate()); | |
644 | } | |
645 | } | |
646 | ||
125b71ce | 647 | gcode->add_nl = true; |
dd0a7cfa | 648 | |
125b71ce JM |
649 | }else{ |
650 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
651 | if (gcode->has_letter('X' + i)) { | |
55783268 JM |
652 | float v= gcode->get_value('X'+i); |
653 | if(gcode->subcode == 0) this->max_speeds[i]= v; | |
654 | else if(gcode->subcode == 1) actuators[i]->set_max_rate(v); | |
125b71ce JM |
655 | } |
656 | } | |
3e1ea0e2 | 657 | |
5acc50ad JM |
658 | if(gcode->subcode == 1) { |
659 | // ABC axis only handle actuator max speeds | |
660 | for (size_t i = A_AXIS; i < n_motors; i++) { | |
661 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
662 | int c= 'A' + i - A_AXIS; | |
663 | if(gcode->has_letter(c)) { | |
664 | float v= gcode->get_value(c); | |
665 | actuators[i]->set_max_rate(v); | |
666 | } | |
667 | } | |
668 | } | |
669 | ||
670 | ||
3e1ea0e2 JM |
671 | // this format is deprecated |
672 | if(gcode->subcode == 0 && (gcode->has_letter('A') || gcode->has_letter('B') || gcode->has_letter('C'))) { | |
673 | gcode->stream->printf("NOTE this format is deprecated, Use M203.1 instead\n"); | |
be7f67cd | 674 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
3e1ea0e2 JM |
675 | if (gcode->has_letter('A' + i)) { |
676 | float v= gcode->get_value('A'+i); | |
677 | actuators[i]->set_max_rate(v); | |
678 | } | |
679 | } | |
680 | } | |
681 | ||
55783268 | 682 | if(gcode->subcode == 1) check_max_actuator_speeds(); |
807b9b57 | 683 | } |
125b71ce | 684 | break; |
83488642 | 685 | |
29e809e0 | 686 | case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration |
4710532a | 687 | if (gcode->has_letter('S')) { |
4710532a | 688 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 689 | // enforce minimum |
29e809e0 JM |
690 | if (acc < 1.0F) acc = 1.0F; |
691 | this->default_acceleration = acc; | |
d4ee6ee2 | 692 | } |
5acc50ad JM |
693 | for (int i = 0; i < n_motors; ++i) { |
694 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
695 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
696 | if(gcode->has_letter(axis)) { | |
697 | float acc = gcode->get_value(axis); // mm/s^2 | |
29e809e0 JM |
698 | // enforce positive |
699 | if (acc <= 0.0F) acc = NAN; | |
700 | actuators[i]->set_acceleration(acc); | |
701 | } | |
c5fe1787 | 702 | } |
d4ee6ee2 JM |
703 | break; |
704 | ||
125b71ce | 705 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed |
4710532a JM |
706 | if (gcode->has_letter('X')) { |
707 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 708 | // enforce minimum |
8b69c90d JM |
709 | if (jd < 0.0F) |
710 | jd = 0.0F; | |
4710532a | 711 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 712 | } |
107df03f JM |
713 | if (gcode->has_letter('Z')) { |
714 | float jd = gcode->get_value('Z'); | |
715 | // enforce minimum, -1 disables it and uses regular junction deviation | |
73a0eab6 JM |
716 | if (jd <= -1.0F) |
717 | jd = NAN; | |
107df03f JM |
718 | THEKERNEL->planner->z_junction_deviation = jd; |
719 | } | |
4710532a JM |
720 | if (gcode->has_letter('S')) { |
721 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
722 | // enforce minimum |
723 | if (mps < 0.0F) | |
724 | mps = 0.0F; | |
4710532a | 725 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 726 | } |
d4ee6ee2 | 727 | break; |
98761c28 | 728 | |
7369629d | 729 | case 220: // M220 - speed override percentage |
4710532a | 730 | if (gcode->has_letter('S')) { |
1ad23cd3 | 731 | float factor = gcode->get_value('S'); |
98761c28 | 732 | // enforce minimum 10% speed |
da947c62 MM |
733 | if (factor < 10.0F) |
734 | factor = 10.0F; | |
735 | // enforce maximum 10x speed | |
736 | if (factor > 1000.0F) | |
737 | factor = 1000.0F; | |
738 | ||
739 | seconds_per_minute = 6000.0F / factor; | |
03b01bac | 740 | } else { |
9ef9f45b | 741 | gcode->stream->printf("Speed factor at %6.2f %%\n", 6000.0F / seconds_per_minute); |
7369629d | 742 | } |
b4f56013 | 743 | break; |
ec4773e5 | 744 | |
494dc541 | 745 | case 400: // wait until all moves are done up to this point |
04782655 | 746 | THEKERNEL->conveyor->wait_for_idle(); |
494dc541 JM |
747 | break; |
748 | ||
33e4cc02 | 749 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 750 | case 503: { // M503 just prints the settings |
5acc50ad JM |
751 | gcode->stream->printf(";Steps per unit:\nM92 "); |
752 | for (int i = 0; i < n_motors; ++i) { | |
753 | if(actuators[i]->is_extruder()) continue; //extruders handle this themselves | |
754 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
755 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_steps_per_mm()); | |
756 | } | |
757 | gcode->stream->printf("\n"); | |
df56baf2 | 758 | |
5acc50ad | 759 | // only print if not NAN |
df56baf2 | 760 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration); |
5acc50ad JM |
761 | for (int i = 0; i < n_motors; ++i) { |
762 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
763 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
764 | if(!isnan(actuators[i]->get_acceleration())) gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_acceleration()); | |
df56baf2 JM |
765 | } |
766 | gcode->stream->printf("\n"); | |
767 | ||
43fa8fd2 | 768 | gcode->stream->printf(";X- Junction Deviation, Z- Z junction deviation, S - Minimum Planner speed mm/sec:\nM205 X%1.5f Z%1.5f S%1.5f\n", THEKERNEL->planner->junction_deviation, isnan(THEKERNEL->planner->z_junction_deviation)?-1:THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
125b71ce JM |
769 | |
770 | gcode->stream->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f\n", this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS]); | |
5acc50ad JM |
771 | |
772 | gcode->stream->printf(";Max actuator feedrates in mm/sec:\nM203.1 "); | |
773 | for (int i = 0; i < n_motors; ++i) { | |
774 | if(actuators[i]->is_extruder()) continue; // extruders handle this themselves | |
775 | char axis= (i <= Z_AXIS ? 'X'+i : 'A'+(i-A_AXIS)); | |
776 | gcode->stream->printf("%c%1.5f ", axis, actuators[i]->get_max_rate()); | |
777 | } | |
778 | gcode->stream->printf("\n"); | |
b7cd847e JM |
779 | |
780 | // get or save any arm solution specific optional values | |
781 | BaseSolution::arm_options_t options; | |
782 | if(arm_solution->get_optional(options) && !options.empty()) { | |
783 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 784 | for(auto &i : options) { |
b7cd847e JM |
785 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
786 | } | |
787 | gcode->stream->printf("\n"); | |
788 | } | |
6e92ab91 | 789 | |
807b9b57 JM |
790 | // save wcs_offsets and current_wcs |
791 | // TODO this may need to be done whenever they change to be compliant | |
792 | gcode->stream->printf(";WCS settings\n"); | |
40fd5d98 | 793 | gcode->stream->printf("%s\n", wcs2gcode(current_wcs).c_str()); |
03b01bac | 794 | int n = 1; |
807b9b57 | 795 | for(auto &i : wcs_offsets) { |
2791c829 | 796 | if(i != wcs_t(0, 0, 0)) { |
807b9b57 JM |
797 | float x, y, z; |
798 | std::tie(x, y, z) = i; | |
40fd5d98 | 799 | gcode->stream->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n, x, y, z, wcs2gcode(n-1).c_str()); |
2791c829 | 800 | } |
807b9b57 JM |
801 | ++n; |
802 | } | |
3aad33c7 JM |
803 | if(save_g92) { |
804 | // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility | |
805 | // also it needs to be used to set Z0 on rotary deltas as M206/306 can't be used, so saving it is necessary in that case | |
806 | if(g92_offset != wcs_t(0, 0, 0)) { | |
807 | float x, y, z; | |
808 | std::tie(x, y, z) = g92_offset; | |
809 | gcode->stream->printf("G92.3 X%f Y%f Z%f\n", x, y, z); // sets G92 to the specified values | |
810 | } | |
67a649dd JM |
811 | } |
812 | } | |
807b9b57 | 813 | break; |
33e4cc02 | 814 | |
b7cd847e | 815 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ebc75fc6 | 816 | // the parameter args could be any letter each arm solution only accepts certain ones |
03b01bac | 817 | BaseSolution::arm_options_t options = gcode->get_args(); |
ebc75fc6 JM |
818 | options.erase('S'); // don't include the S |
819 | options.erase('U'); // don't include the U | |
820 | if(options.size() > 0) { | |
821 | // set the specified options | |
822 | arm_solution->set_optional(options); | |
823 | } | |
824 | options.clear(); | |
b7cd847e | 825 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 826 | // foreach optional value |
4710532a | 827 | for(auto &i : options) { |
b7cd847e JM |
828 | // print all current values of supported options |
829 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 830 | gcode->add_nl = true; |
ec4773e5 JM |
831 | } |
832 | } | |
ec4773e5 | 833 | |
4a839bea | 834 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 835 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
836 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
837 | ||
03b01bac | 838 | } else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 |
4a839bea JM |
839 | this->mm_per_line_segment = gcode->get_value('U'); |
840 | this->delta_segments_per_second = 0; | |
841 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 842 | } |
4a839bea | 843 | |
ec4773e5 | 844 | break; |
b7cd847e | 845 | } |
6989211c | 846 | } |
494dc541 JM |
847 | } |
848 | ||
29e809e0 | 849 | if( motion_mode != NONE) { |
e560f057 | 850 | is_g123= motion_mode != SEEK; |
29e809e0 | 851 | process_move(gcode, motion_mode); |
e560f057 JM |
852 | |
853 | }else{ | |
854 | is_g123= false; | |
00e607c7 | 855 | } |
6bc4a00a | 856 | |
c2f7c261 JM |
857 | next_command_is_MCS = false; // must be on same line as G0 or G1 |
858 | } | |
350c8a60 | 859 | |
325ed08b JM |
860 | int Robot::get_active_extruder() const |
861 | { | |
862 | for (int i = E_AXIS; i < n_motors; ++i) { | |
863 | // find first selected extruder | |
aef2eec0 | 864 | if(actuators[i]->is_extruder() && actuators[i]->is_selected()) return i; |
325ed08b JM |
865 | } |
866 | return 0; | |
867 | } | |
868 | ||
5d2319a9 | 869 | // process a G0/G1/G2/G3 |
29e809e0 | 870 | void Robot::process_move(Gcode *gcode, enum MOTION_MODE_T motion_mode) |
c2f7c261 | 871 | { |
2791c829 | 872 | // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target |
ad6a77d1 | 873 | // get XYZ and one E (which goes to the selected extruder) |
29e809e0 JM |
874 | float param[4]{NAN, NAN, NAN, NAN}; |
875 | ||
876 | // process primary axis | |
350c8a60 JM |
877 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
878 | char letter= 'X'+i; | |
879 | if( gcode->has_letter(letter) ) { | |
880 | param[i] = this->to_millimeters(gcode->get_value(letter)); | |
350c8a60 JM |
881 | } |
882 | } | |
6bc4a00a | 883 | |
c2f7c261 | 884 | float offset[3]{0,0,0}; |
4710532a JM |
885 | for(char letter = 'I'; letter <= 'K'; letter++) { |
886 | if( gcode->has_letter(letter) ) { | |
887 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
888 | } |
889 | } | |
00e607c7 | 890 | |
c2f7c261 | 891 | // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation) |
29e809e0 | 892 | float target[n_motors]; |
45ca77ec | 893 | memcpy(target, machine_position, n_motors*sizeof(float)); |
29e809e0 | 894 | |
350c8a60 JM |
895 | if(!next_command_is_MCS) { |
896 | if(this->absolute_mode) { | |
c2f7c261 JM |
897 | // apply wcs offsets and g92 offset and tool offset |
898 | if(!isnan(param[X_AXIS])) { | |
899 | target[X_AXIS]= param[X_AXIS] + std::get<X_AXIS>(wcs_offsets[current_wcs]) - std::get<X_AXIS>(g92_offset) + std::get<X_AXIS>(tool_offset); | |
900 | } | |
901 | ||
902 | if(!isnan(param[Y_AXIS])) { | |
903 | target[Y_AXIS]= param[Y_AXIS] + std::get<Y_AXIS>(wcs_offsets[current_wcs]) - std::get<Y_AXIS>(g92_offset) + std::get<Y_AXIS>(tool_offset); | |
904 | } | |
905 | ||
906 | if(!isnan(param[Z_AXIS])) { | |
907 | target[Z_AXIS]= param[Z_AXIS] + std::get<Z_AXIS>(wcs_offsets[current_wcs]) - std::get<Z_AXIS>(g92_offset) + std::get<Z_AXIS>(tool_offset); | |
908 | } | |
350c8a60 JM |
909 | |
910 | }else{ | |
45ca77ec | 911 | // they are deltas from the machine_position if specified |
350c8a60 | 912 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { |
45ca77ec | 913 | if(!isnan(param[i])) target[i] = param[i] + machine_position[i]; |
a6bbe768 JM |
914 | } |
915 | } | |
916 | ||
350c8a60 | 917 | }else{ |
c2f7c261 JM |
918 | // already in machine coordinates, we do not add tool offset for that |
919 | for(int i= X_AXIS; i <= Z_AXIS; ++i) { | |
920 | if(!isnan(param[i])) target[i] = param[i]; | |
921 | } | |
c2885de8 | 922 | } |
6bc4a00a | 923 | |
37b7b898 JM |
924 | float delta_e= NAN; |
925 | ||
926 | #if MAX_ROBOT_ACTUATORS > 3 | |
29e809e0 | 927 | // process extruder parameters, for active extruder only (only one active extruder at a time) |
325ed08b | 928 | int selected_extruder= 0; |
29e809e0 | 929 | if(gcode->has_letter('E')) { |
325ed08b JM |
930 | selected_extruder= get_active_extruder(); |
931 | param[E_AXIS]= gcode->get_value('E'); | |
29e809e0 JM |
932 | } |
933 | ||
934 | // do E for the selected extruder | |
29e809e0 JM |
935 | if(selected_extruder > 0 && !isnan(param[E_AXIS])) { |
936 | if(this->e_absolute_mode) { | |
937 | target[selected_extruder]= param[E_AXIS]; | |
45ca77ec | 938 | delta_e= target[selected_extruder] - machine_position[selected_extruder]; |
29e809e0 JM |
939 | }else{ |
940 | delta_e= param[E_AXIS]; | |
45ca77ec | 941 | target[selected_extruder] = delta_e + machine_position[selected_extruder]; |
29e809e0 JM |
942 | } |
943 | } | |
944 | ||
37b7b898 JM |
945 | // process ABC axis, this is mutually exclusive to using E for an extruder, so if E is used and A then the results are undefined |
946 | for (int i = A_AXIS; i < n_motors; ++i) { | |
947 | char letter= 'A'+i-A_AXIS; | |
948 | if(gcode->has_letter(letter)) { | |
949 | float p= gcode->get_value(letter); | |
950 | if(this->absolute_mode) { | |
951 | target[i]= p; | |
952 | }else{ | |
5acc50ad | 953 | target[i]= p + machine_position[i]; |
37b7b898 JM |
954 | } |
955 | } | |
956 | } | |
957 | #endif | |
958 | ||
4710532a | 959 | if( gcode->has_letter('F') ) { |
29e809e0 | 960 | if( motion_mode == SEEK ) |
da947c62 | 961 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 962 | else |
da947c62 | 963 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 964 | } |
6bc4a00a | 965 | |
73cc27d2 | 966 | // S is modal When specified on a G0/1/2/3 command |
e560f057 JM |
967 | if(gcode->has_letter('S')) s_value= gcode->get_value('S'); |
968 | ||
350c8a60 | 969 | bool moved= false; |
29e809e0 JM |
970 | |
971 | // Perform any physical actions | |
972 | switch(motion_mode) { | |
973 | case NONE: break; | |
974 | ||
975 | case SEEK: | |
976 | moved= this->append_line(gcode, target, this->seek_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 977 | break; |
29e809e0 JM |
978 | |
979 | case LINEAR: | |
980 | moved= this->append_line(gcode, target, this->feed_rate / seconds_per_minute, delta_e ); | |
350c8a60 | 981 | break; |
29e809e0 JM |
982 | |
983 | case CW_ARC: | |
984 | case CCW_ARC: | |
374d0777 | 985 | // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3) |
29e809e0 | 986 | moved= this->compute_arc(gcode, offset, target, motion_mode); |
350c8a60 | 987 | break; |
4cff3ded | 988 | } |
13e4a3f9 | 989 | |
c2f7c261 | 990 | if(moved) { |
45ca77ec JM |
991 | // set machine_position to the calculated target |
992 | memcpy(machine_position, target, n_motors*sizeof(float)); | |
350c8a60 | 993 | } |
edac9072 AW |
994 | } |
995 | ||
a6bbe768 | 996 | // reset the machine position for all axis. Used for homing. |
fd2341bc | 997 | // after homing we supply the cartesian coordinates that the head is at when homed, |
bccd3a3e JM |
998 | // however for Z this is the compensated machine position (if enabled) |
999 | // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position | |
8fe38353 | 1000 | // this will make the results from M114 and ? consistent after homing. |
bccd3a3e | 1001 | // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are. |
cef9acea JM |
1002 | void Robot::reset_axis_position(float x, float y, float z) |
1003 | { | |
fd2341bc | 1004 | // set both the same initially |
45ca77ec JM |
1005 | compensated_machine_position[X_AXIS]= machine_position[X_AXIS] = x; |
1006 | compensated_machine_position[Y_AXIS]= machine_position[Y_AXIS] = y; | |
1007 | compensated_machine_position[Z_AXIS]= machine_position[Z_AXIS] = z; | |
cef9acea | 1008 | |
8fe38353 | 1009 | if(compensationTransform) { |
45ca77ec JM |
1010 | // apply inverse transform to get machine_position |
1011 | compensationTransform(machine_position, true); | |
8fe38353 JM |
1012 | } |
1013 | ||
fd2341bc | 1014 | // now set the actuator positions based on the supplied compensated position |
807b9b57 | 1015 | ActuatorCoordinates actuator_pos; |
45ca77ec | 1016 | arm_solution->cartesian_to_actuator(this->compensated_machine_position, actuator_pos); |
29e809e0 | 1017 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) |
cef9acea JM |
1018 | actuators[i]->change_last_milestone(actuator_pos[i]); |
1019 | } | |
1020 | ||
de2ee57c | 1021 | // Reset the position for an axis (used in homing, and to reset extruder after suspend) |
4710532a JM |
1022 | void Robot::reset_axis_position(float position, int axis) |
1023 | { | |
45ca77ec | 1024 | compensated_machine_position[axis] = position; |
de2ee57c | 1025 | if(axis <= Z_AXIS) { |
45ca77ec | 1026 | reset_axis_position(compensated_machine_position[X_AXIS], compensated_machine_position[Y_AXIS], compensated_machine_position[Z_AXIS]); |
7d9e5765 | 1027 | |
72420864 | 1028 | #if MAX_ROBOT_ACTUATORS > 3 |
96ef0809 | 1029 | }else if(axis < n_motors) { |
7d9e5765 JM |
1030 | // ABC and/or extruders need to be set as there is no arm solution for them |
1031 | machine_position[axis]= compensated_machine_position[axis]= position; | |
1032 | actuators[axis]->change_last_milestone(machine_position[axis]); | |
72420864 | 1033 | #endif |
de2ee57c | 1034 | } |
4cff3ded AW |
1035 | } |
1036 | ||
932a3995 | 1037 | // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta) |
abf706e6 | 1038 | // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp |
93f20a8c | 1039 | void Robot::reset_actuator_position(const ActuatorCoordinates &ac) |
586cc733 | 1040 | { |
fdfa00d2 JM |
1041 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
1042 | if(!isnan(ac[i])) actuators[i]->change_last_milestone(ac[i]); | |
1043 | } | |
586cc733 JM |
1044 | |
1045 | // now correct axis positions then recorrect actuator to account for rounding | |
1046 | reset_position_from_current_actuator_position(); | |
1047 | } | |
1048 | ||
a6bbe768 | 1049 | // Use FK to find out where actuator is and reset to match |
b6187406 | 1050 | // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT |
728477c4 JM |
1051 | void Robot::reset_position_from_current_actuator_position() |
1052 | { | |
807b9b57 | 1053 | ActuatorCoordinates actuator_pos; |
9fc4679b | 1054 | for (size_t i = X_AXIS; i < n_motors; i++) { |
45ca77ec | 1055 | // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort |
807b9b57 JM |
1056 | actuator_pos[i] = actuators[i]->get_current_position(); |
1057 | } | |
58587001 JM |
1058 | |
1059 | // discover machine position from where actuators actually are | |
45ca77ec JM |
1060 | arm_solution->actuator_to_cartesian(actuator_pos, compensated_machine_position); |
1061 | memcpy(machine_position, compensated_machine_position, sizeof machine_position); | |
cf91d4f3 | 1062 | |
45ca77ec JM |
1063 | // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position |
1064 | if(compensationTransform) compensationTransform(machine_position, true); // get inverse compensation transform | |
cf91d4f3 | 1065 | |
45ca77ec | 1066 | // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate. |
58587001 | 1067 | // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call |
932a3995 | 1068 | // to get everything in perfect sync. |
45ca77ec | 1069 | arm_solution->cartesian_to_actuator(compensated_machine_position, actuator_pos); |
325ed08b | 1070 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { |
7baae81a | 1071 | actuators[i]->change_last_milestone(actuator_pos[i]); |
325ed08b JM |
1072 | } |
1073 | ||
1074 | // Handle extruders and/or ABC axis | |
1075 | #if MAX_ROBOT_ACTUATORS > 3 | |
9fc4679b | 1076 | for (int i = A_AXIS; i < n_motors; i++) { |
325ed08b JM |
1077 | // ABC and/or extruders just need to set machine_position and compensated_machine_position |
1078 | float ap= actuator_pos[i]; | |
aef2eec0 | 1079 | if(actuators[i]->is_extruder() && get_e_scale_fnc) ap /= get_e_scale_fnc(); // inverse E scale if there is one and this is an extruder |
325ed08b | 1080 | machine_position[i]= compensated_machine_position[i]= ap; |
5d34cbb3 | 1081 | actuators[i]->change_last_milestone(actuator_pos[i]); // this updates the last_milestone in the actuator |
325ed08b JM |
1082 | } |
1083 | #endif | |
728477c4 | 1084 | } |
edac9072 | 1085 | |
ad6a77d1 | 1086 | // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner |
45ca77ec | 1087 | // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes |
c2f7c261 | 1088 | // all transforms and is what we actually convert to actuator positions |
c1ebb1fe | 1089 | bool Robot::append_milestone(const float target[], float rate_mm_s) |
df6a30f2 | 1090 | { |
29e809e0 | 1091 | float deltas[n_motors]; |
1a936198 | 1092 | float transformed_target[n_motors]; // adjust target for bed compensation |
29e809e0 | 1093 | float unit_vec[N_PRIMARY_AXIS]; |
df6a30f2 | 1094 | |
3632a517 | 1095 | // unity transform by default |
29e809e0 | 1096 | memcpy(transformed_target, target, n_motors*sizeof(float)); |
5e45206a | 1097 | |
350c8a60 | 1098 | // check function pointer and call if set to transform the target to compensate for bed |
c1ebb1fe | 1099 | if(compensationTransform) { |
350c8a60 | 1100 | // some compensation strategies can transform XYZ, some just change Z |
8fe38353 | 1101 | compensationTransform(transformed_target, false); |
00e607c7 | 1102 | } |
807b9b57 | 1103 | |
29e809e0 | 1104 | bool move= false; |
b5bd71f8 | 1105 | float sos= 0; // sum of squares for just primary axis (XYZ usually) |
29e809e0 | 1106 | |
b84bd559 | 1107 | // find distance moved by each axis, use transformed target from the current compensated machine position |
ec45206d | 1108 | for (size_t i = 0; i < n_motors; i++) { |
45ca77ec | 1109 | deltas[i] = transformed_target[i] - compensated_machine_position[i]; |
29e809e0 JM |
1110 | if(deltas[i] == 0) continue; |
1111 | // at least one non zero delta | |
1112 | move = true; | |
b5bd71f8 | 1113 | if(i < N_PRIMARY_AXIS) { |
29e809e0 | 1114 | sos += powf(deltas[i], 2); |
121094a5 | 1115 | } |
3632a517 | 1116 | } |
aab6cbba | 1117 | |
29e809e0 JM |
1118 | // nothing moved |
1119 | if(!move) return false; | |
1120 | ||
850b4eeb | 1121 | // see if this is a primary axis move or not |
b5bd71f8 JM |
1122 | bool auxilliary_move= true; |
1123 | for (int i = 0; i < N_PRIMARY_AXIS; ++i) { | |
1124 | if(deltas[i] != 0) { | |
1125 | auxilliary_move= false; | |
1126 | break; | |
1127 | } | |
1128 | } | |
29e809e0 | 1129 | |
850b4eeb JM |
1130 | // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm |
1131 | float distance= auxilliary_move ? 0 : sqrtf(sos); | |
df6a30f2 | 1132 | |
a6bbe768 JM |
1133 | // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here |
1134 | // as the last milestone won't be updated we do not actually lose any moves as they will be accounted for in the next move | |
850b4eeb | 1135 | if(!auxilliary_move && distance < 0.00001F) return false; |
a6bbe768 | 1136 | |
a6bbe768 | 1137 | |
29e809e0 | 1138 | if(!auxilliary_move) { |
b5bd71f8 | 1139 | for (size_t i = X_AXIS; i < N_PRIMARY_AXIS; i++) { |
14a90ad5 | 1140 | // find distance unit vector for primary axis only |
850b4eeb | 1141 | unit_vec[i] = deltas[i] / distance; |
df6a30f2 | 1142 | |
14a90ad5 JM |
1143 | // Do not move faster than the configured cartesian limits for XYZ |
1144 | if ( max_speeds[i] > 0 ) { | |
1145 | float axis_speed = fabsf(unit_vec[i] * rate_mm_s); | |
1146 | ||
1147 | if (axis_speed > max_speeds[i]) | |
1148 | rate_mm_s *= ( max_speeds[i] / axis_speed ); | |
2cd32d70 | 1149 | } |
7b470506 AW |
1150 | } |
1151 | } | |
4cff3ded | 1152 | |
c2f7c261 | 1153 | // find actuator position given the machine position, use actual adjusted target |
29e809e0 | 1154 | ActuatorCoordinates actuator_pos; |
84cf4071 JM |
1155 | if(!disable_arm_solution) { |
1156 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); | |
1157 | ||
1158 | }else{ | |
1159 | // basically the same as cartesian, would be used for special homing situations like for scara | |
1160 | for (size_t i = X_AXIS; i <= Z_AXIS; i++) { | |
1161 | actuator_pos[i] = transformed_target[i]; | |
1162 | } | |
1163 | } | |
df6a30f2 | 1164 | |
13ad7234 | 1165 | #if MAX_ROBOT_ACTUATORS > 3 |
850b4eeb | 1166 | sos= 0; |
ad6a77d1 | 1167 | // for the extruders just copy the position, and possibly scale it from mm³ to mm |
374d0777 | 1168 | for (size_t i = E_AXIS; i < n_motors; i++) { |
850b4eeb | 1169 | actuator_pos[i]= transformed_target[i]; |
aef2eec0 | 1170 | if(actuators[i]->is_extruder() && get_e_scale_fnc) { |
29e809e0 JM |
1171 | // NOTE this relies on the fact only one extruder is active at a time |
1172 | // scale for volumetric or flow rate | |
1173 | // TODO is this correct? scaling the absolute target? what if the scale changes? | |
ec45206d | 1174 | // for volumetric it basically converts mm³ to mm, but what about flow rate? |
121094a5 | 1175 | actuator_pos[i] *= get_e_scale_fnc(); |
29e809e0 | 1176 | } |
850b4eeb JM |
1177 | if(auxilliary_move) { |
1178 | // for E only moves we need to use the scaled E to calculate the distance | |
a3b16417 | 1179 | sos += powf(actuator_pos[i] - actuators[i]->get_last_milestone(), 2); |
850b4eeb JM |
1180 | } |
1181 | } | |
1182 | if(auxilliary_move) { | |
850b4eeb | 1183 | distance= sqrtf(sos); // distance in mm of the e move |
1843a68f | 1184 | if(distance < 0.00001F) return false; |
29e809e0 JM |
1185 | } |
1186 | #endif | |
1187 | ||
1188 | // use default acceleration to start with | |
1189 | float acceleration = default_acceleration; | |
1190 | ||
850b4eeb | 1191 | float isecs = rate_mm_s / distance; |
29e809e0 | 1192 | |
df6a30f2 | 1193 | // check per-actuator speed limits |
29e809e0 JM |
1194 | for (size_t actuator = 0; actuator < n_motors; actuator++) { |
1195 | float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone()); | |
1196 | if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator | |
1197 | ||
1198 | float actuator_rate= d * isecs; | |
03b01bac | 1199 | if (actuator_rate > actuators[actuator]->get_max_rate()) { |
3494f3d0 | 1200 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); |
850b4eeb | 1201 | isecs = rate_mm_s / distance; |
928467c0 | 1202 | } |
29e809e0 | 1203 | |
df56baf2 | 1204 | // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move |
14a90ad5 | 1205 | // TODO we may need to do all of them, check E won't limit XYZ.. it does on long E moves, but not checking it could exceed the E acceleration. |
b5bd71f8 | 1206 | if(auxilliary_move || actuator < N_PRIMARY_AXIS) { |
df56baf2 JM |
1207 | float ma = actuators[actuator]->get_acceleration(); // in mm/sec² |
1208 | if(!isnan(ma)) { // if axis does not have acceleration set then it uses the default_acceleration | |
850b4eeb | 1209 | float ca = fabsf((d/distance) * acceleration); |
df56baf2 JM |
1210 | if (ca > ma) { |
1211 | acceleration *= ( ma / ca ); | |
1212 | } | |
29e809e0 | 1213 | } |
14a90ad5 | 1214 | } |
928467c0 JM |
1215 | } |
1216 | ||
edac9072 | 1217 | // Append the block to the planner |
850b4eeb | 1218 | // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move |
e560f057 | 1219 | if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration, s_value, is_g123)) { |
b84bd559 | 1220 | // this is the new compensated machine position |
45ca77ec | 1221 | memcpy(this->compensated_machine_position, transformed_target, n_motors*sizeof(float)); |
07879e05 | 1222 | return true; |
6f5d947f JM |
1223 | } |
1224 | ||
07879e05 JM |
1225 | // no actual move |
1226 | return false; | |
4cff3ded AW |
1227 | } |
1228 | ||
121094a5 JM |
1229 | // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc. |
1230 | bool Robot::delta_move(const float *delta, float rate_mm_s, uint8_t naxis) | |
c8bac202 JM |
1231 | { |
1232 | if(THEKERNEL->is_halted()) return false; | |
1233 | ||
121094a5 | 1234 | // catch negative or zero feed rates |
c8bac202 JM |
1235 | if(rate_mm_s <= 0.0F) { |
1236 | return false; | |
1237 | } | |
1238 | ||
45ca77ec | 1239 | // get the absolute target position, default is current machine_position |
121094a5 | 1240 | float target[n_motors]; |
45ca77ec | 1241 | memcpy(target, machine_position, n_motors*sizeof(float)); |
c8bac202 | 1242 | |
121094a5 JM |
1243 | // add in the deltas to get new target |
1244 | for (int i= 0; i < naxis; i++) { | |
1245 | target[i] += delta[i]; | |
c8bac202 | 1246 | } |
c8bac202 | 1247 | |
45ca77ec | 1248 | // submit for planning and if moved update machine_position |
c1ebb1fe | 1249 | if(append_milestone(target, rate_mm_s)) { |
45ca77ec | 1250 | memcpy(machine_position, target, n_motors*sizeof(float)); |
121094a5 | 1251 | return true; |
29e809e0 | 1252 | } |
c8bac202 | 1253 | |
121094a5 | 1254 | return false; |
c8bac202 JM |
1255 | } |
1256 | ||
edac9072 | 1257 | // Append a move to the queue ( cutting it into segments if needed ) |
29e809e0 | 1258 | bool Robot::append_line(Gcode *gcode, const float target[], float rate_mm_s, float delta_e) |
4710532a | 1259 | { |
121094a5 JM |
1260 | // catch negative or zero feed rates and return the same error as GRBL does |
1261 | if(rate_mm_s <= 0.0F) { | |
1262 | gcode->is_error= true; | |
1263 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1264 | return false; | |
1265 | } | |
29e809e0 JM |
1266 | |
1267 | // Find out the distance for this move in XYZ in MCS | |
45ca77ec | 1268 | float millimeters_of_travel = sqrtf(powf( target[X_AXIS] - machine_position[X_AXIS], 2 ) + powf( target[Y_AXIS] - machine_position[Y_AXIS], 2 ) + powf( target[Z_AXIS] - machine_position[Z_AXIS], 2 )); |
29e809e0 | 1269 | |
374d0777 | 1270 | if(millimeters_of_travel < 0.00001F) { |
121094a5 JM |
1271 | // we have no movement in XYZ, probably E only extrude or retract |
1272 | return this->append_milestone(target, rate_mm_s); | |
29e809e0 JM |
1273 | } |
1274 | ||
1275 | /* | |
850d5f12 JM |
1276 | For extruders, we need to do some extra work to limit the volumetric rate if specified... |
1277 | If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm | |
374d0777 JM |
1278 | We ask Extruder to do all the work but we need to pass in the relevant data. |
1279 | NOTE we need to do this before we segment the line (for deltas) | |
29e809e0 JM |
1280 | */ |
1281 | if(!isnan(delta_e) && gcode->has_g && gcode->g == 1) { | |
1282 | float data[2]= {delta_e, rate_mm_s / millimeters_of_travel}; | |
d2adef5e | 1283 | if(PublicData::set_value(extruder_checksum, target_checksum, data)) { |
29e809e0 | 1284 | rate_mm_s *= data[1]; // adjust the feedrate |
d2adef5e JM |
1285 | } |
1286 | } | |
1287 | ||
c2f7c261 | 1288 | // We cut the line into smaller segments. This is only needed on a cartesian robot for zgrid, but always necessary for robots with rotational axes like Deltas. |
3b4b05b8 JM |
1289 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
1290 | // 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 | 1291 | uint16_t segments; |
5984acdf | 1292 | |
a3e1326a | 1293 | if(this->disable_segmentation || (!segment_z_moves && !gcode->has_letter('X') && !gcode->has_letter('Y'))) { |
778093ce JM |
1294 | segments= 1; |
1295 | ||
1296 | } else if(this->delta_segments_per_second > 1.0F) { | |
4a0c8e14 JM |
1297 | // enabled if set to something > 1, it is set to 0.0 by default |
1298 | // segment based on current speed and requested segments per second | |
1299 | // the faster the travel speed the fewer segments needed | |
1300 | // NOTE rate is mm/sec and we take into account any speed override | |
29e809e0 | 1301 | float seconds = millimeters_of_travel / rate_mm_s; |
9502f9d5 | 1302 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 1303 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 1304 | |
4710532a JM |
1305 | } else { |
1306 | if(this->mm_per_line_segment == 0.0F) { | |
1307 | segments = 1; // don't split it up | |
1308 | } else { | |
29e809e0 | 1309 | segments = ceilf( millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
1310 | } |
1311 | } | |
5984acdf | 1312 | |
350c8a60 | 1313 | bool moved= false; |
4710532a | 1314 | if (segments > 1) { |
2ba859c9 | 1315 | // A vector to keep track of the endpoint of each segment |
29e809e0 JM |
1316 | float segment_delta[n_motors]; |
1317 | float segment_end[n_motors]; | |
45ca77ec | 1318 | memcpy(segment_end, machine_position, n_motors*sizeof(float)); |
2ba859c9 MM |
1319 | |
1320 | // How far do we move each segment? | |
29e809e0 | 1321 | for (int i = 0; i < n_motors; i++) |
45ca77ec | 1322 | segment_delta[i] = (target[i] - machine_position[i]) / segments; |
4cff3ded | 1323 | |
c8e0fb15 MM |
1324 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
1325 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 1326 | for (int i = 1; i < segments; i++) { |
350c8a60 | 1327 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
29e809e0 JM |
1328 | for (int i = 0; i < n_motors; i++) |
1329 | segment_end[i] += segment_delta[i]; | |
2ba859c9 MM |
1330 | |
1331 | // Append the end of this segment to the queue | |
121094a5 | 1332 | bool b= this->append_milestone(segment_end, rate_mm_s); |
350c8a60 | 1333 | moved= moved || b; |
2ba859c9 | 1334 | } |
4cff3ded | 1335 | } |
5984acdf MM |
1336 | |
1337 | // Append the end of this full move to the queue | |
121094a5 | 1338 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
2134bcf2 | 1339 | |
a6bbe768 | 1340 | this->next_command_is_MCS = false; // always reset this |
00e607c7 | 1341 | |
350c8a60 | 1342 | return moved; |
4cff3ded AW |
1343 | } |
1344 | ||
4cff3ded | 1345 | |
edac9072 | 1346 | // Append an arc to the queue ( cutting it into segments as needed ) |
850d5f12 | 1347 | // TODO does not support any E parameters so cannot be used for 3D printing. |
350c8a60 | 1348 | bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[], float radius, bool is_clockwise ) |
4710532a | 1349 | { |
121094a5 JM |
1350 | float rate_mm_s= this->feed_rate / seconds_per_minute; |
1351 | // catch negative or zero feed rates and return the same error as GRBL does | |
1352 | if(rate_mm_s <= 0.0F) { | |
1353 | gcode->is_error= true; | |
1354 | gcode->txt_after_ok= (rate_mm_s == 0 ? "Undefined feed rate" : "feed rate < 0"); | |
1355 | return false; | |
1356 | } | |
aab6cbba | 1357 | |
edac9072 | 1358 | // Scary math |
45ca77ec JM |
1359 | float center_axis0 = this->machine_position[this->plane_axis_0] + offset[this->plane_axis_0]; |
1360 | float center_axis1 = this->machine_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
1361 | float linear_travel = target[this->plane_axis_2] - this->machine_position[this->plane_axis_2]; | |
1ad23cd3 MM |
1362 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
1363 | float r_axis1 = -offset[this->plane_axis_1]; | |
1364 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
1365 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 1366 | |
51871fb8 | 1367 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 1368 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
fb4c9d09 | 1369 | float angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1); |
5fa0c173 | 1370 | if (is_clockwise) { // Correct atan2 output per direction |
29e809e0 | 1371 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= (2 * PI); } |
5fa0c173 | 1372 | } else { |
29e809e0 | 1373 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += (2 * PI); } |
4710532a | 1374 | } |
aab6cbba | 1375 | |
edac9072 | 1376 | // Find the distance for this gcode |
29e809e0 | 1377 | float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel)); |
436a2cd1 | 1378 | |
edac9072 | 1379 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
29e809e0 | 1380 | if( millimeters_of_travel < 0.00001F ) { |
350c8a60 | 1381 | return false; |
4710532a | 1382 | } |
5dcb2ff3 | 1383 | |
83c6e067 RA |
1384 | // limit segments by maximum arc error |
1385 | float arc_segment = this->mm_per_arc_segment; | |
4d0f60a9 | 1386 | if ((this->mm_max_arc_error > 0) && (2 * radius > this->mm_max_arc_error)) { |
83c6e067 RA |
1387 | float min_err_segment = 2 * sqrtf((this->mm_max_arc_error * (2 * radius - this->mm_max_arc_error))); |
1388 | if (this->mm_per_arc_segment < min_err_segment) { | |
1389 | arc_segment = min_err_segment; | |
1390 | } | |
1391 | } | |
5984acdf | 1392 | // Figure out how many segments for this gcode |
f8935932 | 1393 | // TODO for deltas we need to make sure we are at least as many segments as requested, also if mm_per_line_segment is set we need to use the |
29e809e0 | 1394 | uint16_t segments = ceilf(millimeters_of_travel / arc_segment); |
aab6cbba | 1395 | |
29e809e0 | 1396 | //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY |
4710532a JM |
1397 | float theta_per_segment = angular_travel / segments; |
1398 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
1399 | |
1400 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
1401 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
1402 | r_T = [cos(phi) -sin(phi); | |
1403 | sin(phi) cos(phi] * r ; | |
1404 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
1405 | defined from the circle center to the initial position. Each line segment is formed by successive | |
1406 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
1407 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 1408 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
1409 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
1410 | tool precision in some cases. Therefore, arc path correction is implemented. | |
1411 | ||
1412 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
1413 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
1414 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
1415 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
1416 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
1417 | issue for CNC machines with the single precision Arduino calculations. | |
1418 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
1419 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
1420 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
1421 | This is important when there are successive arc motions. | |
1422 | */ | |
1423 | // Vector rotation matrix values | |
4710532a | 1424 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 1425 | float sin_T = theta_per_segment; |
aab6cbba | 1426 | |
5acc50ad | 1427 | // TODO we need to handle the ABC axis here by segmenting them |
1ad23cd3 MM |
1428 | float arc_target[3]; |
1429 | float sin_Ti; | |
1430 | float cos_Ti; | |
1431 | float r_axisi; | |
aab6cbba AW |
1432 | uint16_t i; |
1433 | int8_t count = 0; | |
1434 | ||
1435 | // Initialize the linear axis | |
45ca77ec | 1436 | arc_target[this->plane_axis_2] = this->machine_position[this->plane_axis_2]; |
aab6cbba | 1437 | |
350c8a60 | 1438 | bool moved= false; |
4710532a | 1439 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
350c8a60 | 1440 | if(THEKERNEL->is_halted()) return false; // don't queue any more segments |
aab6cbba | 1441 | |
b66fb830 | 1442 | if (count < this->arc_correction ) { |
4710532a JM |
1443 | // Apply vector rotation matrix |
1444 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
1445 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
1446 | r_axis1 = r_axisi; | |
1447 | count++; | |
aab6cbba | 1448 | } else { |
4710532a JM |
1449 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
1450 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
1451 | cos_Ti = cosf(i * theta_per_segment); | |
1452 | sin_Ti = sinf(i * theta_per_segment); | |
1453 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
1454 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
1455 | count = 0; | |
aab6cbba AW |
1456 | } |
1457 | ||
1458 | // Update arc_target location | |
1459 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
1460 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
1461 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
1462 | |
1463 | // Append this segment to the queue | |
121094a5 | 1464 | bool b= this->append_milestone(arc_target, rate_mm_s); |
350c8a60 | 1465 | moved= moved || b; |
aab6cbba | 1466 | } |
edac9072 | 1467 | |
aab6cbba | 1468 | // Ensure last segment arrives at target location. |
121094a5 | 1469 | if(this->append_milestone(target, rate_mm_s)) moved= true; |
350c8a60 JM |
1470 | |
1471 | return moved; | |
aab6cbba AW |
1472 | } |
1473 | ||
edac9072 | 1474 | // Do the math for an arc and add it to the queue |
29e809e0 | 1475 | bool Robot::compute_arc(Gcode * gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode) |
4710532a | 1476 | { |
aab6cbba AW |
1477 | |
1478 | // Find the radius | |
13addf09 | 1479 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
1480 | |
1481 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
1482 | bool is_clockwise = false; | |
29e809e0 | 1483 | if( motion_mode == CW_ARC ) { |
4710532a JM |
1484 | is_clockwise = true; |
1485 | } | |
aab6cbba AW |
1486 | |
1487 | // Append arc | |
350c8a60 | 1488 | return this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
1489 | } |
1490 | ||
1491 | ||
4710532a JM |
1492 | float Robot::theta(float x, float y) |
1493 | { | |
1494 | float t = atanf(x / fabs(y)); | |
1495 | if (y > 0) { | |
1496 | return(t); | |
1497 | } else { | |
1498 | if (t > 0) { | |
29e809e0 | 1499 | return(PI - t); |
4710532a | 1500 | } else { |
29e809e0 | 1501 | return(-PI - t); |
4710532a JM |
1502 | } |
1503 | } | |
4cff3ded AW |
1504 | } |
1505 | ||
4710532a JM |
1506 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
1507 | { | |
4cff3ded AW |
1508 | this->plane_axis_0 = axis_0; |
1509 | this->plane_axis_1 = axis_1; | |
1510 | this->plane_axis_2 = axis_2; | |
1511 | } | |
1512 | ||
fae93525 | 1513 | void Robot::clearToolOffset() |
4710532a | 1514 | { |
c2f7c261 | 1515 | this->tool_offset= wcs_t(0,0,0); |
fae93525 JM |
1516 | } |
1517 | ||
1518 | void Robot::setToolOffset(const float offset[3]) | |
1519 | { | |
c2f7c261 | 1520 | this->tool_offset= wcs_t(offset[0], offset[1], offset[2]); |
5966b7d0 AT |
1521 | } |
1522 | ||
0ec2f63a JM |
1523 | float Robot::get_feed_rate() const |
1524 | { | |
1525 | return THEKERNEL->gcode_dispatch->get_modal_command() == 0 ? seek_rate : feed_rate; | |
1526 | } |