Commit | Line | Data |
---|---|---|
ca037905 | 1 | /* |
58baeec1 MM |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
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/>. | |
cd011f58 AW |
6 | */ |
7 | ||
4cff3ded AW |
8 | #include "libs/Module.h" |
9 | #include "libs/Kernel.h" | |
13e4a3f9 | 10 | #include "modules/robot/Player.h" |
4cff3ded AW |
11 | #include "modules/robot/Block.h" |
12 | #include "modules/tools/extruder/Extruder.h" | |
13 | ||
ca037905 MM |
14 | #define extruder_step_pin_checksum 40763 |
15 | #define extruder_dir_pin_checksum 57277 | |
16 | #define extruder_en_pin_checksum 8017 | |
17 | ||
58baeec1 MM |
18 | /* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling |
19 | * It can work in two modes : either the head does not move, and the extruder moves the filament at a specified speed ( SOLO mode here ) | |
20 | * or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ). | |
4464301d AW |
21 | */ |
22 | ||
ca037905 | 23 | Extruder::Extruder() { |
436a2cd1 | 24 | this->absolute_mode = true; |
d9ebc974 AW |
25 | this->step_counter = 0; |
26 | this->counter_increment = 0; | |
81b547a1 | 27 | this->paused = false; |
436a2cd1 | 28 | } |
4cff3ded AW |
29 | |
30 | void Extruder::on_module_loaded() { | |
f5598f5b | 31 | |
ded56b35 | 32 | // Do not do anything if not enabledd |
ca037905 | 33 | if( this->kernel->config->value( extruder_module_enable_checksum )->by_default(false)->as_bool() == false ){ return; } |
f5598f5b | 34 | |
4cff3ded | 35 | // Settings |
da24d6ae | 36 | this->on_config_reload(this); |
4cff3ded | 37 | |
4464301d AW |
38 | // We start with the enable pin off |
39 | this->en_pin->set(1); | |
5c07c6dc | 40 | |
4cff3ded AW |
41 | // We work on the same Block as Stepper, so we need to know when it gets a new one and drops one |
42 | this->register_for_event(ON_BLOCK_BEGIN); | |
43 | this->register_for_event(ON_BLOCK_END); | |
436a2cd1 | 44 | this->register_for_event(ON_GCODE_EXECUTE); |
81b547a1 AW |
45 | this->register_for_event(ON_PLAY); |
46 | this->register_for_event(ON_PAUSE); | |
be8332cd | 47 | this->register_for_event(ON_SPEED_CHANGE); |
ca037905 | 48 | |
ded56b35 | 49 | // Start values |
4cff3ded AW |
50 | this->target_position = 0; |
51 | this->current_position = 0; | |
4464301d | 52 | this->current_steps = 0; |
4cff3ded | 53 | this->current_block = NULL; |
ded56b35 | 54 | this->mode = OFF; |
ca037905 | 55 | |
ded56b35 | 56 | // Update speed every *acceleration_ticks_per_second* |
7b49793d | 57 | // TODO: Make this an independent setting |
d9ebc974 | 58 | this->kernel->slow_ticker->attach( this->kernel->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick ); |
ded56b35 | 59 | |
be8332cd | 60 | // Stepper motor object for the extruder |
58baeec1 MM |
61 | this->stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(this->step_pin,this->dir_pin,this->en_pin) ); |
62 | this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move ); | |
3b1e82d2 | 63 | |
4cff3ded AW |
64 | } |
65 | ||
2bb8b390 | 66 | // Get config |
da24d6ae | 67 | void Extruder::on_config_reload(void* argument){ |
58baeec1 MM |
68 | this->microseconds_per_step_pulse = this->kernel->config->value(microseconds_per_step_pulse_checksum)->by_default(5)->as_number(); |
69 | this->steps_per_millimeter = this->kernel->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number(); | |
70 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(1000)->as_number(); | |
71 | this->acceleration = this->kernel->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number(); | |
72 | ||
73 | this->step_pin = this->kernel->config->value(extruder_step_pin_checksum )->by_default("nc" )->as_pin()->as_output(); | |
74 | this->dir_pin = this->kernel->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_pin()->as_output(); | |
75 | this->en_pin = this->kernel->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_pin()->as_output()->as_open_drain(); | |
436a2cd1 AW |
76 | } |
77 | ||
81b547a1 AW |
78 | |
79 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
80 | void Extruder::on_pause(void* argument){ | |
81 | this->paused = true; | |
83ecfc46 | 82 | this->stepper_motor->pause(); |
81b547a1 AW |
83 | } |
84 | ||
85 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
86 | void Extruder::on_play(void* argument){ | |
87 | this->paused = false; | |
83ecfc46 | 88 | this->stepper_motor->unpause(); |
81b547a1 AW |
89 | } |
90 | ||
91 | ||
92 | ||
ded56b35 | 93 | // Compute extrusion speed based on parameters and gcode distance of travel |
436a2cd1 AW |
94 | void Extruder::on_gcode_execute(void* argument){ |
95 | Gcode* gcode = static_cast<Gcode*>(argument); | |
ca037905 | 96 | |
436a2cd1 | 97 | // Absolute/relative mode |
e6b5ae25 AW |
98 | if( gcode->has_m ){ |
99 | if( gcode->m == 82 ){ this->absolute_mode = true; } | |
100 | if( gcode->m == 83 ){ this->absolute_mode = false; } | |
101 | if( gcode->m == 84 ){ this->en_pin->set(1); } | |
ca037905 MM |
102 | } |
103 | ||
104 | // The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude | |
ded56b35 | 105 | this->mode = OFF; |
ca037905 | 106 | |
e6b5ae25 | 107 | if( gcode->has_g ){ |
7b49793d | 108 | // G92: Reset extruder position |
e6b5ae25 | 109 | if( gcode->g == 92 ){ |
1a2d88eb | 110 | if( gcode->has_letter('E') ){ |
e2b4a32b | 111 | this->current_position = gcode->get_value('E'); |
1a2d88eb | 112 | this->target_position = this->current_position; |
4464301d | 113 | this->current_steps = int(floor(this->steps_per_millimeter * this->current_position)); |
ca037905 | 114 | } |
436a2cd1 | 115 | }else{ |
ca037905 | 116 | // Extrusion length from 'G' Gcode |
1a2d88eb | 117 | if( gcode->has_letter('E' )){ |
ca037905 | 118 | // Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position ) |
ded56b35 AW |
119 | double relative_extrusion_distance = gcode->get_value('E'); |
120 | if( this->absolute_mode == true ){ relative_extrusion_distance = relative_extrusion_distance - this->target_position; } | |
ca037905 | 121 | |
ded56b35 | 122 | // If the robot is moving, we follow it's movement, otherwise, we move alone |
7b49793d | 123 | if( fabs(gcode->millimeters_of_travel) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg |
ded56b35 AW |
124 | this->mode = SOLO; |
125 | this->travel_distance = relative_extrusion_distance; | |
126 | if( gcode->has_letter('F') ){ this->feed_rate = gcode->get_value('F'); } | |
1a2d88eb | 127 | }else{ |
ca037905 | 128 | // We move proportionally to the robot's movement |
4464301d | 129 | this->mode = FOLLOW; |
ca037905 MM |
130 | this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel; |
131 | } | |
132 | ||
5c07c6dc | 133 | this->en_pin->set(0); |
ca037905 | 134 | } |
1a2d88eb | 135 | } |
ca037905 | 136 | } |
da24d6ae AW |
137 | } |
138 | ||
ded56b35 | 139 | // When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing ) |
4cff3ded AW |
140 | void Extruder::on_block_begin(void* argument){ |
141 | Block* block = static_cast<Block*>(argument); | |
4464301d AW |
142 | |
143 | ||
ded56b35 AW |
144 | if( this->mode == SOLO ){ |
145 | // In solo mode we take the block so we can move even if the stepper has nothing to do | |
58baeec1 | 146 | |
be8332cd | 147 | this->target_position = this->current_position + this->travel_distance ; |
58baeec1 | 148 | |
4464301d AW |
149 | //int32_t steps_to_step = abs( int( floor(this->steps_per_millimeter*this->target_position) - floor(this->steps_per_millimeter*this->current_position) ) ); |
150 | ||
151 | int old_steps = this->current_steps; | |
152 | int target_steps = int( floor(this->steps_per_millimeter*this->target_position) ); | |
153 | int steps_to_step = abs( target_steps - old_steps ); | |
154 | this->current_steps = target_steps; | |
155 | ||
156 | if( steps_to_step != 0 ){ | |
58baeec1 | 157 | |
4464301d AW |
158 | // We take the block, we have to release it or everything gets stuck |
159 | block->take(); | |
160 | this->current_block = block; | |
58baeec1 MM |
161 | |
162 | this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step); | |
4464301d AW |
163 | |
164 | } | |
165 | ||
be8332cd | 166 | |
ded56b35 | 167 | }else if( this->mode == FOLLOW ){ |
1a2d88eb | 168 | // In non-solo mode, we just follow the stepper module |
58baeec1 | 169 | |
ca037905 | 170 | this->current_block = block; |
be8332cd | 171 | this->target_position = this->current_position + ( this->current_block->millimeters * this->travel_ratio ); |
4464301d AW |
172 | |
173 | //int32_t steps_to_step = abs( int( floor(this->steps_per_millimeter*this->target_position) - floor(this->steps_per_millimeter*this->current_position) ) ); | |
174 | ||
175 | int old_steps = this->current_steps; | |
176 | int target_steps = int( floor(this->steps_per_millimeter*this->target_position) ); | |
83ecfc46 | 177 | int steps_to_step = target_steps - old_steps ; |
4464301d | 178 | this->current_steps = target_steps; |
58baeec1 MM |
179 | |
180 | ||
181 | if( steps_to_step != 0 ){ | |
4464301d AW |
182 | |
183 | //printf("taken for extruder: %u \r\n", steps_to_step); | |
58baeec1 | 184 | |
4464301d | 185 | block->take(); |
58baeec1 | 186 | |
4464301d AW |
187 | //printf("spm:%f td:%f steps:%d ( %f - %f ) \r\n", this->steps_per_millimeter, this->travel_distance, steps_to_step, this->target_position, this->current_position ); |
188 | ||
58baeec1 | 189 | this->stepper_motor->move( ( steps_to_step > 0 ), abs(steps_to_step) ); |
4464301d AW |
190 | |
191 | ||
192 | ||
193 | } | |
be8332cd AW |
194 | |
195 | }else if( this->mode == OFF ){ | |
196 | // No movement means we must reset our speed | |
58baeec1 | 197 | |
4464301d | 198 | //this->stepper_motor->set_speed(0); |
58baeec1 | 199 | |
ca037905 | 200 | } |
e2b4a32b | 201 | |
4cff3ded AW |
202 | } |
203 | ||
ded56b35 | 204 | // When a block ends, pause the stepping interrupt |
4cff3ded | 205 | void Extruder::on_block_end(void* argument){ |
ca037905 MM |
206 | this->current_block = NULL; |
207 | } | |
4cff3ded | 208 | |
ded56b35 | 209 | // Called periodically to change the speed to match acceleration or to match the speed of the robot |
8b8b3339 | 210 | uint32_t Extruder::acceleration_tick(uint32_t dummy){ |
1a2d88eb | 211 | |
ca037905 | 212 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
be8332cd AW |
213 | if( this->current_block == NULL || this->paused || this->mode != SOLO ){ return 0; } |
214 | ||
215 | uint32_t current_rate = this->stepper_motor->steps_per_second; | |
216 | uint32_t target_rate = int(floor((this->feed_rate/60)*this->steps_per_millimeter)); | |
58baeec1 | 217 | |
4464301d AW |
218 | if( current_rate < target_rate ){ |
219 | uint32_t rate_increase = int(floor((this->acceleration/this->kernel->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter)); | |
220 | current_rate = min( target_rate, current_rate + rate_increase ); | |
0eb11a06 | 221 | } |
4464301d | 222 | if( current_rate > target_rate ){ current_rate = target_rate; } |
1a2d88eb | 223 | |
58baeec1 MM |
224 | this->stepper_motor->set_speed(max(current_rate, this->kernel->stepper->minimum_steps_per_minute/60)); |
225 | ||
be8332cd | 226 | return 0; |
ded56b35 | 227 | } |
1a2d88eb | 228 | |
be8332cd AW |
229 | // Speed has been updated for the robot's stepper, we must update accordingly |
230 | void Extruder::on_speed_change( void* argument ){ | |
ca037905 | 231 | |
be8332cd | 232 | // Avoid trying to work when we really shouldn't ( between blocks or re-entry ) |
4464301d AW |
233 | if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; } |
234 | ||
235 | /* | |
58baeec1 MM |
236 | * nominal block duration = current block's steps / ( current block's nominal rate / 60 ) |
237 | * nominal extruder rate = extruder steps / nominal block duration | |
238 | * actual extruder rate = nominal extruder rate * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) ) | |
239 | * or actual extruder rate = ( ( extruder steps * ( current block's nominal_rate / 60 ) ) / current block's steps ) * ( ( stepper's steps per minute / 60 ) / ( current block's nominal rate / 60 ) ) | |
240 | * or simplified : extruder steps * ( stepper's steps per minute / 60 ) ) / current block's steps | |
241 | * or even : ( stepper steps per minute / 60 ) * ( extruder steps / current block's steps ) | |
4464301d | 242 | */ |
58baeec1 MM |
243 | |
244 | this->stepper_motor->set_speed( max( ( this->kernel->stepper->trapezoid_adjusted_rate /60L) * ( (double)this->stepper_motor->steps_to_move / (double)this->current_block->steps_event_count ), this->kernel->stepper->minimum_steps_per_minute/60 ) ); | |
ca037905 | 245 | |
4cff3ded AW |
246 | } |
247 | ||
4cff3ded AW |
248 | |
249 | ||
be8332cd AW |
250 | // When the stepper has finished it's move |
251 | uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){ | |
4cff3ded | 252 | |
4464301d AW |
253 | //printf("extruder releasing\r\n"); |
254 | ||
be8332cd | 255 | this->current_position = this->target_position; |
feb204be | 256 | |
be8332cd | 257 | this->current_block->release(); |
f2203544 | 258 | return 0; |
feb204be | 259 | |
be8332cd | 260 | } |
feb204be | 261 |