Commit | Line | Data |
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4cff3ded | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include <string> | |
11 | using std::string; | |
12 | #include "mbed.h" | |
13 | #include <math.h> | |
14 | #include "Planner.h" | |
15 | #include "Robot.h" | |
16 | #include "libs/nuts_bolts.h" | |
17 | #include "../communication/utils/Gcode.h" | |
18 | #include "arm_solutions/BaseSolution.h" | |
19 | #include "arm_solutions/CartesianSolution.h" | |
20 | ||
21 | Robot::Robot(){ | |
a1b7e9f0 AW |
22 | this->inch_mode = false; |
23 | this->absolute_mode = false; | |
4cff3ded AW |
24 | this->motion_mode = MOTION_MODE_SEEK; |
25 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); | |
26 | clear_vector(this->current_position); | |
27 | clear_vector(this->last_milestone); | |
28 | } | |
29 | ||
30 | //Called when the module has just been loaded | |
31 | void Robot::on_module_loaded() { | |
32 | this->arm_solution = new CartesianSolution(this->kernel->config); | |
33 | this->register_for_event(ON_GCODE_RECEIVED); | |
34 | ||
35 | // Configuration | |
da24d6ae AW |
36 | this->on_config_reload(this); |
37 | } | |
38 | ||
39 | void Robot::on_config_reload(void* argument){ | |
b66fb830 AW |
40 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(100)->as_number()/60; |
41 | this->seek_rate = this->kernel->config->value(default_seek_rate_checksum )->by_default(100)->as_number()/60; | |
42 | this->mm_per_line_segment = this->kernel->config->value(mm_per_line_segment_checksum)->by_default(0.1)->as_number(); | |
43 | this->mm_per_arc_segment = this->kernel->config->value(mm_per_arc_segment_checksum )->by_default(10 )->as_number(); | |
44 | this->arc_correction = this->kernel->config->value(arc_correction_checksum )->by_default(5 )->as_number(); | |
4cff3ded AW |
45 | } |
46 | ||
47 | //A GCode has been received | |
48 | void Robot::on_gcode_received(void * argument){ | |
49 | Gcode* gcode = static_cast<Gcode*>(argument); | |
4cff3ded | 50 | this->kernel->planner->attach_gcode_to_queue(gcode); |
a2cd92c0 | 51 | this->execute_gcode(gcode); |
4cff3ded AW |
52 | } |
53 | ||
54 | //See if the current Gcode line has some orders for us | |
55 | void Robot::execute_gcode(Gcode* gcode){ | |
56 | ||
57 | //Temp variables, constant properties are stored in the object | |
58 | uint8_t next_action = NEXT_ACTION_DEFAULT; | |
23c90ba6 | 59 | this->motion_mode = -1; |
4cff3ded AW |
60 | |
61 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly | |
62 | if( gcode->has_letter('G')){ | |
63 | switch( (int) gcode->get_value('G') ){ | |
64 | case 0: this->motion_mode = MOTION_MODE_SEEK; break; | |
65 | case 1: this->motion_mode = MOTION_MODE_LINEAR; break; | |
66 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; break; | |
67 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; break; | |
68 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; | |
69 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; | |
70 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; | |
71 | case 20:this->inch_mode = true; break; | |
72 | case 21:this->inch_mode = false; break; | |
73 | case 90:this->absolute_mode = true; break; | |
74 | case 91:this->absolute_mode = false; break; | |
75 | } | |
23c90ba6 | 76 | }else{ return; } |
4cff3ded AW |
77 | |
78 | //Get parameters | |
79 | double target[3], offset[3]; | |
80 | clear_vector(target); clear_vector(offset); | |
81 | ||
82 | memcpy(target, this->current_position, sizeof(target)); //default to last target | |
83 | ||
84 | for(char letter = 'I'; letter <= 'K'; letter++){ if( gcode->has_letter(letter) ){ offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); } } | |
85 | for(char letter = 'X'; letter <= 'Z'; letter++){ if( gcode->has_letter(letter) ){ target[letter-'X'] = this->to_millimeters(gcode->get_value(letter)) + ( this->absolute_mode ? 0 : target[letter-'X']); } } | |
86 | ||
87 | if( gcode->has_letter('F') ){ if( this->motion_mode == MOTION_MODE_SEEK ){ this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60; }else{ this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60; } } | |
88 | ||
89 | //Perform any physical actions | |
90 | switch( next_action ){ | |
91 | case NEXT_ACTION_DEFAULT: | |
92 | switch(this->motion_mode){ | |
93 | case MOTION_MODE_CANCEL: break; | |
94 | case MOTION_MODE_SEEK : this->append_line(target, this->seek_rate ); break; | |
95 | case MOTION_MODE_LINEAR: this->append_line(target, this->feed_rate ); break; | |
96 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(offset, target ); break; | |
97 | } | |
98 | break; | |
99 | } | |
100 | // As far as the parser is concerned, the position is now == target. In reality the | |
101 | // motion control system might still be processing the action and the real tool position | |
102 | // in any intermediate location. | |
103 | memcpy(this->current_position, target, sizeof(double)*3); // this->position[] = target[]; | |
104 | ||
105 | } | |
106 | ||
107 | // Convert target from millimeters to steps, and append this to the planner | |
108 | void Robot::append_milestone( double target[], double rate ){ | |
109 | int steps[3]; //Holds the result of the conversion | |
110 | ||
111 | this->arm_solution->millimeters_to_steps( target, steps ); | |
112 | ||
aab6cbba AW |
113 | double deltas[3]; |
114 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];} | |
115 | ||
a1b7e9f0 | 116 | |
aab6cbba | 117 | double millimeters_of_travel = sqrt( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
4cff3ded AW |
118 | if( millimeters_of_travel < 0.001 ){ return; } |
119 | double duration = millimeters_of_travel / rate; | |
b66fb830 | 120 | //this->kernel->serial->printf("dur: %f mm: %f rate: %f target_z: %f steps_z: %d deltas_z: %f \r\n", duration, millimeters_of_travel, rate, target[2], steps[2], deltas[2] ); |
4cff3ded | 121 | |
aab6cbba | 122 | this->kernel->planner->append_block( steps, rate*60, millimeters_of_travel, deltas ); |
4cff3ded | 123 | |
b66fb830 | 124 | memcpy(this->last_milestone, target, sizeof(double)*3); // this->last_milestone[] = target[]; |
4cff3ded AW |
125 | |
126 | } | |
127 | ||
128 | void Robot::append_line(double target[], double rate ){ | |
129 | ||
a1b7e9f0 | 130 | |
4cff3ded AW |
131 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
132 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
133 | double millimeters_of_travel = sqrt( 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 ) ); | |
134 | if( millimeters_of_travel == 0.0 ){ return; } | |
135 | ||
136 | uint16_t segments = ceil( millimeters_of_travel/ this->mm_per_line_segment); | |
137 | // A vector to keep track of the endpoint of each segment | |
138 | double temp_target[3]; | |
139 | //Initialize axes | |
140 | memcpy( temp_target, this->current_position, sizeof(double)*3); // temp_target[] = this->current_position[]; | |
141 | ||
142 | //For each segment | |
143 | for( int i=0; i<segments-1; i++ ){ | |
144 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } | |
145 | this->append_milestone(temp_target, rate); | |
146 | } | |
147 | this->append_milestone(target, rate); | |
148 | } | |
149 | ||
4cff3ded | 150 | |
aab6cbba AW |
151 | void Robot::append_arc( double target[], double offset[], double radius, bool is_clockwise ){ |
152 | ||
153 | double center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; | |
154 | double center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; | |
155 | double linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; | |
156 | double r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location | |
157 | double r_axis1 = -offset[this->plane_axis_1]; | |
158 | double rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
159 | double rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
160 | ||
161 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. | |
162 | double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); | |
163 | if (angular_travel < 0) { angular_travel += 2*M_PI; } | |
164 | if (is_clockwise) { angular_travel -= 2*M_PI; } | |
165 | ||
166 | double millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); | |
167 | if (millimeters_of_travel == 0.0) { return; } | |
168 | uint16_t segments = floor(millimeters_of_travel/this->mm_per_arc_segment); | |
169 | ||
170 | double theta_per_segment = angular_travel/segments; | |
171 | double linear_per_segment = linear_travel/segments; | |
172 | ||
173 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
174 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
175 | r_T = [cos(phi) -sin(phi); | |
176 | sin(phi) cos(phi] * r ; | |
177 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
178 | defined from the circle center to the initial position. Each line segment is formed by successive | |
179 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
180 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
181 | all double numbers are single precision on the Arduino. (True double precision will not have | |
182 | round off issues for CNC applications.) Single precision error can accumulate to be greater than | |
183 | tool precision in some cases. Therefore, arc path correction is implemented. | |
184 | ||
185 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
186 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
187 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
188 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
189 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
190 | issue for CNC machines with the single precision Arduino calculations. | |
191 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
192 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
193 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
194 | This is important when there are successive arc motions. | |
195 | */ | |
196 | // Vector rotation matrix values | |
197 | double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation | |
198 | double sin_T = theta_per_segment; | |
199 | ||
200 | double arc_target[3]; | |
201 | double sin_Ti; | |
202 | double cos_Ti; | |
203 | double r_axisi; | |
204 | uint16_t i; | |
205 | int8_t count = 0; | |
206 | ||
207 | // Initialize the linear axis | |
208 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; | |
209 | ||
210 | for (i = 1; i<segments; i++) { // Increment (segments-1) | |
211 | ||
b66fb830 | 212 | if (count < this->arc_correction ) { |
aab6cbba AW |
213 | // Apply vector rotation matrix |
214 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; | |
215 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; | |
216 | r_axis1 = r_axisi; | |
217 | count++; | |
218 | } else { | |
219 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. | |
220 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
221 | cos_Ti = cos(i*theta_per_segment); | |
222 | sin_Ti = sin(i*theta_per_segment); | |
223 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; | |
224 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; | |
225 | count = 0; | |
226 | } | |
227 | ||
228 | // Update arc_target location | |
229 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
230 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
231 | arc_target[this->plane_axis_2] += linear_per_segment; | |
232 | this->append_milestone(arc_target, this->feed_rate); | |
233 | ||
234 | } | |
235 | // Ensure last segment arrives at target location. | |
236 | this->append_milestone(target, this->feed_rate); | |
237 | } | |
238 | ||
4cff3ded AW |
239 | |
240 | void Robot::compute_arc(double offset[], double target[]){ | |
aab6cbba AW |
241 | |
242 | // Find the radius | |
243 | double radius = hypot(offset[this->plane_axis_0], offset[this->plane_axis_1]); | |
244 | ||
245 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
246 | bool is_clockwise = false; | |
247 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } | |
248 | ||
249 | // Append arc | |
250 | this->append_arc( target, offset, radius, is_clockwise ); | |
251 | ||
252 | } | |
253 | ||
254 | ||
4cff3ded AW |
255 | // Convert from inches to millimeters ( our internal storage unit ) if needed |
256 | inline double Robot::to_millimeters( double value ){ | |
257 | return this->inch_mode ? value/25.4 : value; | |
258 | } | |
259 | ||
260 | double Robot::theta(double x, double y){ | |
261 | double t = atan(x/fabs(y)); | |
262 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} | |
263 | } | |
264 | ||
265 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ | |
266 | this->plane_axis_0 = axis_0; | |
267 | this->plane_axis_1 = axis_1; | |
268 | this->plane_axis_2 = axis_2; | |
269 | } | |
270 | ||
271 |