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 | |
c3df978d JM |
11 | #include "mbed.h" // for us_ticker_read() |
12 | ||
5673fe39 | 13 | #include <math.h> |
4cff3ded AW |
14 | #include <string> |
15 | using std::string; | |
5673fe39 | 16 | |
4cff3ded | 17 | #include "Planner.h" |
3fceb8eb | 18 | #include "Conveyor.h" |
4cff3ded | 19 | #include "Robot.h" |
5673fe39 MM |
20 | #include "nuts_bolts.h" |
21 | #include "Pin.h" | |
22 | #include "StepperMotor.h" | |
23 | #include "Gcode.h" | |
5647f709 | 24 | #include "PublicDataRequest.h" |
66383b80 | 25 | #include "RobotPublicAccess.h" |
4cff3ded AW |
26 | #include "arm_solutions/BaseSolution.h" |
27 | #include "arm_solutions/CartesianSolution.h" | |
c41d6d95 | 28 | #include "arm_solutions/RotatableCartesianSolution.h" |
2a06c415 | 29 | #include "arm_solutions/LinearDeltaSolution.h" |
c52b8675 | 30 | #include "arm_solutions/RotatableDeltaSolution.h" |
bdaaa75d | 31 | #include "arm_solutions/HBotSolution.h" |
1217e470 | 32 | #include "arm_solutions/MorganSCARASolution.h" |
61134a65 | 33 | #include "StepTicker.h" |
7af0714f JM |
34 | #include "checksumm.h" |
35 | #include "utils.h" | |
8d54c34c | 36 | #include "ConfigValue.h" |
5966b7d0 | 37 | #include "libs/StreamOutput.h" |
dd0a7cfa | 38 | #include "StreamOutputPool.h" |
38bf9a1c | 39 | |
78d0e16a MM |
40 | #define default_seek_rate_checksum CHECKSUM("default_seek_rate") |
41 | #define default_feed_rate_checksum CHECKSUM("default_feed_rate") | |
42 | #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment") | |
43 | #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second") | |
44 | #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment") | |
45 | #define arc_correction_checksum CHECKSUM("arc_correction") | |
46 | #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed") | |
47 | #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed") | |
48 | #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed") | |
43424972 JM |
49 | |
50 | // arm solutions | |
78d0e16a MM |
51 | #define arm_solution_checksum CHECKSUM("arm_solution") |
52 | #define cartesian_checksum CHECKSUM("cartesian") | |
53 | #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian") | |
54 | #define rostock_checksum CHECKSUM("rostock") | |
2a06c415 | 55 | #define linear_delta_checksum CHECKSUM("linear_delta") |
c52b8675 | 56 | #define rotatable_delta_checksum CHECKSUM("rotatable_delta") |
78d0e16a MM |
57 | #define delta_checksum CHECKSUM("delta") |
58 | #define hbot_checksum CHECKSUM("hbot") | |
59 | #define corexy_checksum CHECKSUM("corexy") | |
60 | #define kossel_checksum CHECKSUM("kossel") | |
1217e470 | 61 | #define morgan_checksum CHECKSUM("morgan") |
78d0e16a MM |
62 | |
63 | // stepper motor stuff | |
64 | #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin") | |
65 | #define beta_step_pin_checksum CHECKSUM("beta_step_pin") | |
66 | #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin") | |
67 | #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin") | |
68 | #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin") | |
69 | #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin") | |
70 | #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin") | |
71 | #define beta_en_pin_checksum CHECKSUM("beta_en_pin") | |
72 | #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin") | |
a84f0186 | 73 | |
78d0e16a MM |
74 | #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm") |
75 | #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm") | |
76 | #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm") | |
77 | ||
df6a30f2 MM |
78 | #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate") |
79 | #define beta_max_rate_checksum CHECKSUM("beta_max_rate") | |
80 | #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate") | |
81 | ||
82 | ||
78d0e16a MM |
83 | // new-style actuator stuff |
84 | #define actuator_checksum CHEKCSUM("actuator") | |
85 | ||
86 | #define step_pin_checksum CHECKSUM("step_pin") | |
87 | #define dir_pin_checksum CHEKCSUM("dir_pin") | |
88 | #define en_pin_checksum CHECKSUM("en_pin") | |
89 | ||
90 | #define steps_per_mm_checksum CHECKSUM("steps_per_mm") | |
df6a30f2 | 91 | #define max_rate_checksum CHECKSUM("max_rate") |
78d0e16a MM |
92 | |
93 | #define alpha_checksum CHECKSUM("alpha") | |
94 | #define beta_checksum CHECKSUM("beta") | |
95 | #define gamma_checksum CHECKSUM("gamma") | |
96 | ||
43424972 | 97 | |
38bf9a1c JM |
98 | #define NEXT_ACTION_DEFAULT 0 |
99 | #define NEXT_ACTION_DWELL 1 | |
100 | #define NEXT_ACTION_GO_HOME 2 | |
101 | ||
102 | #define MOTION_MODE_SEEK 0 // G0 | |
103 | #define MOTION_MODE_LINEAR 1 // G1 | |
104 | #define MOTION_MODE_CW_ARC 2 // G2 | |
105 | #define MOTION_MODE_CCW_ARC 3 // G3 | |
106 | #define MOTION_MODE_CANCEL 4 // G80 | |
107 | ||
108 | #define PATH_CONTROL_MODE_EXACT_PATH 0 | |
109 | #define PATH_CONTROL_MODE_EXACT_STOP 1 | |
110 | #define PATH_CONTROL_MODE_CONTINOUS 2 | |
111 | ||
112 | #define PROGRAM_FLOW_RUNNING 0 | |
113 | #define PROGRAM_FLOW_PAUSED 1 | |
114 | #define PROGRAM_FLOW_COMPLETED 2 | |
115 | ||
116 | #define SPINDLE_DIRECTION_CW 0 | |
117 | #define SPINDLE_DIRECTION_CCW 1 | |
118 | ||
5fa0c173 PA |
119 | #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians) |
120 | ||
edac9072 AW |
121 | // 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 |
122 | // It takes care of cutting arcs into segments, same thing for line that are too long | |
123 | ||
4710532a JM |
124 | Robot::Robot() |
125 | { | |
a1b7e9f0 | 126 | this->inch_mode = false; |
0e8b102e | 127 | this->absolute_mode = true; |
df27a6a3 | 128 | this->motion_mode = MOTION_MODE_SEEK; |
4cff3ded | 129 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
df27a6a3 | 130 | clear_vector(this->last_milestone); |
3632a517 | 131 | clear_vector(this->transformed_last_milestone); |
0b804a41 | 132 | this->arm_solution = NULL; |
da947c62 | 133 | seconds_per_minute = 60.0F; |
fae93525 | 134 | this->clearToolOffset(); |
3632a517 | 135 | this->compensationTransform= nullptr; |
728477c4 | 136 | this->halted= false; |
4cff3ded AW |
137 | } |
138 | ||
139 | //Called when the module has just been loaded | |
4710532a JM |
140 | void Robot::on_module_loaded() |
141 | { | |
4cff3ded | 142 | this->register_for_event(ON_GCODE_RECEIVED); |
b55cfff1 JM |
143 | this->register_for_event(ON_GET_PUBLIC_DATA); |
144 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
728477c4 | 145 | this->register_for_event(ON_HALT); |
4cff3ded AW |
146 | |
147 | // Configuration | |
da24d6ae AW |
148 | this->on_config_reload(this); |
149 | } | |
150 | ||
4710532a JM |
151 | void Robot::on_config_reload(void *argument) |
152 | { | |
5984acdf | 153 | |
edac9072 AW |
154 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
155 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. | |
156 | // To make adding those solution easier, they have their own, separate object. | |
5984acdf | 157 | // Here we read the config to find out which arm solution to use |
0b804a41 | 158 | if (this->arm_solution) delete this->arm_solution; |
eda9facc | 159 | int solution_checksum = get_checksum(THEKERNEL->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
d149c730 | 160 | // Note checksums are not const expressions when in debug mode, so don't use switch |
98761c28 | 161 | if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) { |
314ab8f7 | 162 | this->arm_solution = new HBotSolution(THEKERNEL->config); |
bdaaa75d | 163 | |
2a06c415 JM |
164 | } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) { |
165 | this->arm_solution = new LinearDeltaSolution(THEKERNEL->config); | |
73a4e3c0 | 166 | |
4710532a | 167 | } else if(solution_checksum == rotatable_cartesian_checksum) { |
314ab8f7 | 168 | this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config); |
b73a756d | 169 | |
c52b8675 DP |
170 | } else if(solution_checksum == rotatable_delta_checksum) { |
171 | this->arm_solution = new RotatableDeltaSolution(THEKERNEL->config); | |
172 | ||
173 | ||
1217e470 QH |
174 | } else if(solution_checksum == morgan_checksum) { |
175 | this->arm_solution = new MorganSCARASolution(THEKERNEL->config); | |
176 | ||
4710532a | 177 | } else if(solution_checksum == cartesian_checksum) { |
314ab8f7 | 178 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
73a4e3c0 | 179 | |
4710532a | 180 | } else { |
314ab8f7 | 181 | this->arm_solution = new CartesianSolution(THEKERNEL->config); |
d149c730 | 182 | } |
73a4e3c0 | 183 | |
0b804a41 | 184 | |
6b661ab3 DP |
185 | this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number(); |
186 | this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number(); | |
187 | this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number(); | |
188 | this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number(); | |
189 | this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number(); | |
190 | this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number(); | |
78d0e16a | 191 | |
6b661ab3 DP |
192 | this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; |
193 | this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number() / 60.0F; | |
194 | this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number() / 60.0F; | |
feb204be | 195 | |
78d0e16a MM |
196 | Pin alpha_step_pin; |
197 | Pin alpha_dir_pin; | |
198 | Pin alpha_en_pin; | |
199 | Pin beta_step_pin; | |
200 | Pin beta_dir_pin; | |
201 | Pin beta_en_pin; | |
202 | Pin gamma_step_pin; | |
203 | Pin gamma_dir_pin; | |
204 | Pin gamma_en_pin; | |
205 | ||
eda9facc DP |
206 | alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); |
207 | alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); | |
208 | alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output(); | |
209 | beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); | |
210 | beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); | |
211 | beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output(); | |
212 | gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); | |
213 | gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); | |
214 | gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output(); | |
78d0e16a | 215 | |
a84f0186 | 216 | float steps_per_mm[3] = { |
eda9facc DP |
217 | THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(), |
218 | THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(), | |
219 | THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(), | |
a84f0186 MM |
220 | }; |
221 | ||
78d0e16a MM |
222 | // TODO: delete or detect old steppermotors |
223 | // Make our 3 StepperMotors | |
c9cc5e06 JM |
224 | this->alpha_stepper_motor = new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin); |
225 | this->beta_stepper_motor = new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ); | |
226 | this->gamma_stepper_motor = new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin); | |
78d0e16a | 227 | |
a84f0186 MM |
228 | alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]); |
229 | beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]); | |
230 | gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]); | |
231 | ||
eda9facc DP |
232 | alpha_stepper_motor->set_max_rate(THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F); |
233 | beta_stepper_motor->set_max_rate(THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F); | |
234 | gamma_stepper_motor->set_max_rate(THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F); | |
dd0a7cfa | 235 | check_max_actuator_speeds(); // check the configs are sane |
df6a30f2 | 236 | |
78d0e16a MM |
237 | actuators.clear(); |
238 | actuators.push_back(alpha_stepper_motor); | |
239 | actuators.push_back(beta_stepper_motor); | |
240 | actuators.push_back(gamma_stepper_motor); | |
975469ad | 241 | |
dd0a7cfa | 242 | |
975469ad MM |
243 | // initialise actuator positions to current cartesian position (X0 Y0 Z0) |
244 | // so the first move can be correct if homing is not performed | |
245 | float actuator_pos[3]; | |
246 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
247 | for (int i = 0; i < 3; i++) | |
248 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
5966b7d0 AT |
249 | |
250 | //this->clearToolOffset(); | |
4cff3ded AW |
251 | } |
252 | ||
dd0a7cfa JM |
253 | // this does a sanity check that actuator speeds do not exceed steps rate capability |
254 | // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency | |
255 | void Robot::check_max_actuator_speeds() | |
256 | { | |
3494f3d0 | 257 | float step_freq= alpha_stepper_motor->get_max_rate() * alpha_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 258 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 259 | alpha_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / alpha_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
260 | THEKERNEL->streams->printf("WARNING: alpha_max_rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", step_freq, alpha_stepper_motor->max_rate); |
261 | } | |
262 | ||
3494f3d0 | 263 | step_freq= beta_stepper_motor->get_max_rate() * beta_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 264 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 265 | beta_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / beta_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
266 | THEKERNEL->streams->printf("WARNING: beta_max_rate exceeds base_stepping_frequency * beta_steps_per_mm: %f, setting to %f\n", step_freq, beta_stepper_motor->max_rate); |
267 | } | |
268 | ||
3494f3d0 | 269 | step_freq= gamma_stepper_motor->get_max_rate() * gamma_stepper_motor->get_steps_per_mm(); |
dd0a7cfa | 270 | if(step_freq > THEKERNEL->base_stepping_frequency) { |
3494f3d0 | 271 | gamma_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / gamma_stepper_motor->get_steps_per_mm())); |
dd0a7cfa JM |
272 | THEKERNEL->streams->printf("WARNING: gamma_max_rate exceeds base_stepping_frequency * gamma_steps_per_mm: %f, setting to %f\n", step_freq, gamma_stepper_motor->max_rate); |
273 | } | |
274 | } | |
275 | ||
728477c4 JM |
276 | void Robot::on_halt(void *arg) |
277 | { | |
278 | halted= (arg == nullptr); | |
279 | } | |
280 | ||
4710532a JM |
281 | void Robot::on_get_public_data(void *argument) |
282 | { | |
283 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
b55cfff1 JM |
284 | |
285 | if(!pdr->starts_with(robot_checksum)) return; | |
286 | ||
287 | if(pdr->second_element_is(speed_override_percent_checksum)) { | |
1ad23cd3 | 288 | static float return_data; |
da947c62 | 289 | return_data = 100.0F * 60.0F / seconds_per_minute; |
b55cfff1 JM |
290 | pdr->set_data_ptr(&return_data); |
291 | pdr->set_taken(); | |
98761c28 | 292 | |
4710532a | 293 | } else if(pdr->second_element_is(current_position_checksum)) { |
1ad23cd3 | 294 | static float return_data[3]; |
4710532a JM |
295 | return_data[0] = from_millimeters(this->last_milestone[0]); |
296 | return_data[1] = from_millimeters(this->last_milestone[1]); | |
297 | return_data[2] = from_millimeters(this->last_milestone[2]); | |
b55cfff1 JM |
298 | |
299 | pdr->set_data_ptr(&return_data); | |
98761c28 | 300 | pdr->set_taken(); |
b55cfff1 | 301 | } |
5647f709 JM |
302 | } |
303 | ||
4710532a JM |
304 | void Robot::on_set_public_data(void *argument) |
305 | { | |
306 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
5647f709 | 307 | |
b55cfff1 | 308 | if(!pdr->starts_with(robot_checksum)) return; |
5647f709 | 309 | |
b55cfff1 | 310 | if(pdr->second_element_is(speed_override_percent_checksum)) { |
7a522ccc | 311 | // NOTE do not use this while printing! |
4710532a | 312 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
98761c28 | 313 | // enforce minimum 10% speed |
4710532a | 314 | if (t < 10.0F) t = 10.0F; |
98761c28 | 315 | |
da947c62 | 316 | this->seconds_per_minute = t / 0.6F; // t * 60 / 100 |
b55cfff1 | 317 | pdr->set_taken(); |
4710532a JM |
318 | } else if(pdr->second_element_is(current_position_checksum)) { |
319 | float *t = static_cast<float *>(pdr->get_data_ptr()); | |
320 | for (int i = 0; i < 3; i++) { | |
8adf2390 L |
321 | this->last_milestone[i] = this->to_millimeters(t[i]); |
322 | } | |
323 | ||
324 | float actuator_pos[3]; | |
325 | arm_solution->cartesian_to_actuator(last_milestone, actuator_pos); | |
326 | for (int i = 0; i < 3; i++) | |
327 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
328 | ||
329 | pdr->set_taken(); | |
330 | } | |
5647f709 JM |
331 | } |
332 | ||
4cff3ded | 333 | //A GCode has been received |
edac9072 | 334 | //See if the current Gcode line has some orders for us |
4710532a JM |
335 | void Robot::on_gcode_received(void *argument) |
336 | { | |
337 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6bc4a00a | 338 | |
23c90ba6 | 339 | this->motion_mode = -1; |
4cff3ded | 340 | |
4710532a JM |
341 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
342 | if( gcode->has_g) { | |
343 | switch( gcode->g ) { | |
74b6303c DD |
344 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
345 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; | |
346 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; | |
347 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; | |
c3df978d JM |
348 | case 4: { |
349 | uint32_t delay_ms= 0; | |
350 | if (gcode->has_letter('P')) { | |
351 | delay_ms= gcode->get_int('P'); | |
352 | } | |
353 | if (gcode->has_letter('S')) { | |
354 | delay_ms += gcode->get_int('S') * 1000; | |
355 | } | |
356 | if (delay_ms > 0){ | |
c3df978d JM |
357 | // drain queue |
358 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
359 | // wait for specified time | |
6ac0b51c | 360 | uint32_t start= us_ticker_read(); // mbed call |
c3df978d JM |
361 | while ((us_ticker_read() - start) < delay_ms*1000) { |
362 | THEKERNEL->call_event(ON_IDLE, this); | |
363 | } | |
364 | } | |
365 | gcode->mark_as_taken(); | |
adba2978 | 366 | } |
6b661ab3 | 367 | break; |
74b6303c DD |
368 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; |
369 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; | |
370 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; | |
371 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; | |
372 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; | |
373 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; | |
374 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; | |
0b804a41 | 375 | case 92: { |
4710532a | 376 | if(gcode->get_num_args() == 0) { |
cef9acea JM |
377 | for (int i = X_AXIS; i <= Z_AXIS; ++i) { |
378 | reset_axis_position(0, i); | |
379 | } | |
380 | ||
4710532a JM |
381 | } else { |
382 | for (char letter = 'X'; letter <= 'Z'; letter++) { | |
cef9acea JM |
383 | if ( gcode->has_letter(letter) ) { |
384 | reset_axis_position(this->to_millimeters(gcode->get_value(letter)), letter - 'X'); | |
385 | } | |
eaf8a8a8 | 386 | } |
6bc4a00a | 387 | } |
78d0e16a | 388 | |
74b6303c | 389 | gcode->mark_as_taken(); |
78d0e16a | 390 | return; |
4710532a JM |
391 | } |
392 | } | |
393 | } else if( gcode->has_m) { | |
394 | switch( gcode->m ) { | |
0fb5b438 | 395 | case 92: // M92 - set steps per mm |
0fb5b438 | 396 | if (gcode->has_letter('X')) |
78d0e16a | 397 | actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X'))); |
0fb5b438 | 398 | if (gcode->has_letter('Y')) |
78d0e16a | 399 | actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y'))); |
0fb5b438 | 400 | if (gcode->has_letter('Z')) |
78d0e16a | 401 | actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z'))); |
7369629d MM |
402 | if (gcode->has_letter('F')) |
403 | seconds_per_minute = gcode->get_value('F'); | |
78d0e16a MM |
404 | |
405 | gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm, seconds_per_minute); | |
0fb5b438 | 406 | gcode->add_nl = true; |
74b6303c | 407 | gcode->mark_as_taken(); |
dd0a7cfa | 408 | check_max_actuator_speeds(); |
0fb5b438 | 409 | return; |
562db364 | 410 | |
4710532a | 411 | case 114: { |
58c32991 JM |
412 | char buf[64]; |
413 | int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f A:%1.3f B:%1.3f C:%1.3f ", | |
4710532a JM |
414 | from_millimeters(this->last_milestone[0]), |
415 | from_millimeters(this->last_milestone[1]), | |
58c32991 JM |
416 | from_millimeters(this->last_milestone[2]), |
417 | actuators[X_AXIS]->get_current_position(), | |
418 | actuators[Y_AXIS]->get_current_position(), | |
419 | actuators[Z_AXIS]->get_current_position() ); | |
4710532a JM |
420 | gcode->txt_after_ok.append(buf, n); |
421 | gcode->mark_as_taken(); | |
422 | } | |
423 | return; | |
33e4cc02 | 424 | |
562db364 JM |
425 | case 120: { // push state |
426 | gcode->mark_as_taken(); | |
427 | bool b= this->absolute_mode; | |
428 | saved_state_t s(this->feed_rate, this->seek_rate, b); | |
429 | state_stack.push(s); | |
430 | } | |
431 | break; | |
432 | ||
433 | case 121: // pop state | |
434 | gcode->mark_as_taken(); | |
435 | if(!state_stack.empty()) { | |
436 | auto s= state_stack.top(); | |
437 | state_stack.pop(); | |
438 | this->feed_rate= std::get<0>(s); | |
439 | this->seek_rate= std::get<1>(s); | |
440 | this->absolute_mode= std::get<2>(s); | |
441 | } | |
442 | break; | |
443 | ||
83488642 JM |
444 | case 203: // M203 Set maximum feedrates in mm/sec |
445 | if (gcode->has_letter('X')) | |
4710532a | 446 | this->max_speeds[X_AXIS] = gcode->get_value('X'); |
83488642 | 447 | if (gcode->has_letter('Y')) |
4710532a | 448 | this->max_speeds[Y_AXIS] = gcode->get_value('Y'); |
83488642 | 449 | if (gcode->has_letter('Z')) |
4710532a | 450 | this->max_speeds[Z_AXIS] = gcode->get_value('Z'); |
83488642 | 451 | if (gcode->has_letter('A')) |
3494f3d0 | 452 | alpha_stepper_motor->set_max_rate(gcode->get_value('A')); |
83488642 | 453 | if (gcode->has_letter('B')) |
3494f3d0 | 454 | beta_stepper_motor->set_max_rate(gcode->get_value('B')); |
83488642 | 455 | if (gcode->has_letter('C')) |
3494f3d0 | 456 | gamma_stepper_motor->set_max_rate(gcode->get_value('C')); |
83488642 | 457 | |
dd0a7cfa JM |
458 | check_max_actuator_speeds(); |
459 | ||
83488642 | 460 | gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ", |
4710532a | 461 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
3494f3d0 | 462 | alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); |
83488642 JM |
463 | gcode->add_nl = true; |
464 | gcode->mark_as_taken(); | |
465 | break; | |
466 | ||
c5fe1787 | 467 | case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration |
d4ee6ee2 | 468 | gcode->mark_as_taken(); |
83488642 | 469 | |
4710532a | 470 | if (gcode->has_letter('S')) { |
4710532a | 471 | float acc = gcode->get_value('S'); // mm/s^2 |
d4ee6ee2 | 472 | // enforce minimum |
da947c62 MM |
473 | if (acc < 1.0F) |
474 | acc = 1.0F; | |
4710532a | 475 | THEKERNEL->planner->acceleration = acc; |
d4ee6ee2 | 476 | } |
c5fe1787 | 477 | if (gcode->has_letter('Z')) { |
c5fe1787 JM |
478 | float acc = gcode->get_value('Z'); // mm/s^2 |
479 | // enforce positive | |
480 | if (acc < 0.0F) | |
481 | acc = 0.0F; | |
482 | THEKERNEL->planner->z_acceleration = acc; | |
483 | } | |
d4ee6ee2 JM |
484 | break; |
485 | ||
9502f9d5 | 486 | case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate |
d4ee6ee2 | 487 | gcode->mark_as_taken(); |
4710532a JM |
488 | if (gcode->has_letter('X')) { |
489 | float jd = gcode->get_value('X'); | |
d4ee6ee2 | 490 | // enforce minimum |
8b69c90d JM |
491 | if (jd < 0.0F) |
492 | jd = 0.0F; | |
4710532a | 493 | THEKERNEL->planner->junction_deviation = jd; |
d4ee6ee2 | 494 | } |
107df03f JM |
495 | if (gcode->has_letter('Z')) { |
496 | float jd = gcode->get_value('Z'); | |
497 | // enforce minimum, -1 disables it and uses regular junction deviation | |
498 | if (jd < -1.0F) | |
499 | jd = -1.0F; | |
500 | THEKERNEL->planner->z_junction_deviation = jd; | |
501 | } | |
4710532a JM |
502 | if (gcode->has_letter('S')) { |
503 | float mps = gcode->get_value('S'); | |
8b69c90d JM |
504 | // enforce minimum |
505 | if (mps < 0.0F) | |
506 | mps = 0.0F; | |
4710532a | 507 | THEKERNEL->planner->minimum_planner_speed = mps; |
8b69c90d | 508 | } |
9502f9d5 JM |
509 | if (gcode->has_letter('Y')) { |
510 | alpha_stepper_motor->default_minimum_actuator_rate = gcode->get_value('Y'); | |
511 | } | |
d4ee6ee2 | 512 | break; |
98761c28 | 513 | |
7369629d | 514 | case 220: // M220 - speed override percentage |
74b6303c | 515 | gcode->mark_as_taken(); |
4710532a | 516 | if (gcode->has_letter('S')) { |
1ad23cd3 | 517 | float factor = gcode->get_value('S'); |
98761c28 | 518 | // enforce minimum 10% speed |
da947c62 MM |
519 | if (factor < 10.0F) |
520 | factor = 10.0F; | |
521 | // enforce maximum 10x speed | |
522 | if (factor > 1000.0F) | |
523 | factor = 1000.0F; | |
524 | ||
525 | seconds_per_minute = 6000.0F / factor; | |
adba2978 JM |
526 | }else{ |
527 | gcode->stream->printf("Speed factor at %f %%\n", 6000.0F / seconds_per_minute); | |
7369629d | 528 | } |
b4f56013 | 529 | break; |
ec4773e5 | 530 | |
494dc541 JM |
531 | case 400: // wait until all moves are done up to this point |
532 | gcode->mark_as_taken(); | |
314ab8f7 | 533 | THEKERNEL->conveyor->wait_for_empty_queue(); |
494dc541 JM |
534 | break; |
535 | ||
33e4cc02 | 536 | case 500: // M500 saves some volatile settings to config override file |
b7cd847e | 537 | case 503: { // M503 just prints the settings |
78d0e16a | 538 | gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators[0]->steps_per_mm, actuators[1]->steps_per_mm, actuators[2]->steps_per_mm); |
c5fe1787 | 539 | gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration); |
c9cc5e06 | 540 | 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, THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed); |
83488642 | 541 | gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n", |
4710532a | 542 | this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS], |
3494f3d0 | 543 | alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate()); |
b7cd847e JM |
544 | |
545 | // get or save any arm solution specific optional values | |
546 | BaseSolution::arm_options_t options; | |
547 | if(arm_solution->get_optional(options) && !options.empty()) { | |
548 | gcode->stream->printf(";Optional arm solution specific settings:\nM665"); | |
4710532a | 549 | for(auto &i : options) { |
b7cd847e JM |
550 | gcode->stream->printf(" %c%1.4f", i.first, i.second); |
551 | } | |
552 | gcode->stream->printf("\n"); | |
553 | } | |
33e4cc02 JM |
554 | gcode->mark_as_taken(); |
555 | break; | |
b7cd847e | 556 | } |
33e4cc02 | 557 | |
b7cd847e | 558 | case 665: { // M665 set optional arm solution variables based on arm solution. |
ec4773e5 | 559 | gcode->mark_as_taken(); |
ebc75fc6 JM |
560 | // the parameter args could be any letter each arm solution only accepts certain ones |
561 | BaseSolution::arm_options_t options= gcode->get_args(); | |
562 | options.erase('S'); // don't include the S | |
563 | options.erase('U'); // don't include the U | |
564 | if(options.size() > 0) { | |
565 | // set the specified options | |
566 | arm_solution->set_optional(options); | |
567 | } | |
568 | options.clear(); | |
b7cd847e | 569 | if(arm_solution->get_optional(options)) { |
ebc75fc6 | 570 | // foreach optional value |
4710532a | 571 | for(auto &i : options) { |
b7cd847e JM |
572 | // print all current values of supported options |
573 | gcode->stream->printf("%c: %8.4f ", i.first, i.second); | |
5523c05d | 574 | gcode->add_nl = true; |
ec4773e5 JM |
575 | } |
576 | } | |
ec4773e5 | 577 | |
4a839bea | 578 | if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500 |
4710532a | 579 | this->delta_segments_per_second = gcode->get_value('S'); |
4a839bea JM |
580 | gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second); |
581 | ||
582 | }else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500 | |
583 | this->mm_per_line_segment = gcode->get_value('U'); | |
584 | this->delta_segments_per_second = 0; | |
585 | gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment); | |
ec29d378 | 586 | } |
4a839bea | 587 | |
ec4773e5 | 588 | break; |
b7cd847e | 589 | } |
6989211c | 590 | } |
494dc541 JM |
591 | } |
592 | ||
c83887ea MM |
593 | if( this->motion_mode < 0) |
594 | return; | |
6bc4a00a | 595 | |
4710532a | 596 | //Get parameters |
1ad23cd3 | 597 | float target[3], offset[3]; |
c2885de8 | 598 | clear_vector(offset); |
6bc4a00a | 599 | |
2ba859c9 | 600 | memcpy(target, this->last_milestone, sizeof(target)); //default to last target |
6bc4a00a | 601 | |
4710532a JM |
602 | for(char letter = 'I'; letter <= 'K'; letter++) { |
603 | if( gcode->has_letter(letter) ) { | |
604 | offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter)); | |
c2885de8 JM |
605 | } |
606 | } | |
4710532a JM |
607 | for(char letter = 'X'; letter <= 'Z'; letter++) { |
608 | if( gcode->has_letter(letter) ) { | |
c7689006 | 609 | target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']); |
c2885de8 JM |
610 | } |
611 | } | |
6bc4a00a | 612 | |
4710532a | 613 | if( gcode->has_letter('F') ) { |
7369629d | 614 | if( this->motion_mode == MOTION_MODE_SEEK ) |
da947c62 | 615 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 616 | else |
da947c62 | 617 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ); |
7369629d | 618 | } |
6bc4a00a | 619 | |
4cff3ded | 620 | //Perform any physical actions |
fae93525 JM |
621 | switch(this->motion_mode) { |
622 | case MOTION_MODE_CANCEL: break; | |
623 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break; | |
624 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break; | |
625 | case MOTION_MODE_CW_ARC: | |
626 | case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; | |
4cff3ded | 627 | } |
13e4a3f9 | 628 | |
fae93525 | 629 | // last_milestone was set to target in append_milestone, no need to do it again |
4cff3ded | 630 | |
edac9072 AW |
631 | } |
632 | ||
5984acdf | 633 | // We received a new gcode, and one of the functions |
edac9072 AW |
634 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
635 | // and continue | |
4710532a JM |
636 | void Robot::distance_in_gcode_is_known(Gcode *gcode) |
637 | { | |
edac9072 | 638 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
e0ee24ed | 639 | THEKERNEL->conveyor->append_gcode(gcode); |
edac9072 AW |
640 | } |
641 | ||
cef9acea JM |
642 | // reset the position for all axis (used in homing for delta as last_milestone may be bogus) |
643 | void Robot::reset_axis_position(float x, float y, float z) | |
644 | { | |
645 | this->last_milestone[X_AXIS] = x; | |
646 | this->last_milestone[Y_AXIS] = y; | |
647 | this->last_milestone[Z_AXIS] = z; | |
3632a517 JM |
648 | this->transformed_last_milestone[X_AXIS] = x; |
649 | this->transformed_last_milestone[Y_AXIS] = y; | |
650 | this->transformed_last_milestone[Z_AXIS] = z; | |
cef9acea JM |
651 | |
652 | float actuator_pos[3]; | |
653 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); | |
654 | for (int i = 0; i < 3; i++) | |
655 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
656 | } | |
657 | ||
658 | // Reset the position for an axis (used in homing and G92) | |
4710532a JM |
659 | void Robot::reset_axis_position(float position, int axis) |
660 | { | |
2ba859c9 | 661 | this->last_milestone[axis] = position; |
3632a517 | 662 | this->transformed_last_milestone[axis] = position; |
29c28822 MM |
663 | |
664 | float actuator_pos[3]; | |
cef9acea | 665 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); |
29c28822 MM |
666 | |
667 | for (int i = 0; i < 3; i++) | |
668 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
4cff3ded AW |
669 | } |
670 | ||
728477c4 | 671 | // Use FK to find out where actuator is and reset lastmilestone to match |
728477c4 JM |
672 | void Robot::reset_position_from_current_actuator_position() |
673 | { | |
58c32991 JM |
674 | float actuator_pos[]= {actuators[X_AXIS]->get_current_position(), actuators[Y_AXIS]->get_current_position(), actuators[Z_AXIS]->get_current_position()}; |
675 | arm_solution->actuator_to_cartesian(actuator_pos, this->last_milestone); | |
4befe777 | 676 | memcpy(this->transformed_last_milestone, this->last_milestone, sizeof(this->transformed_last_milestone)); |
cf91d4f3 JM |
677 | |
678 | // now reset actuator correctly, NOTE this may lose a little precision | |
679 | arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos); | |
680 | for (int i = 0; i < 3; i++) | |
681 | actuators[i]->change_last_milestone(actuator_pos[i]); | |
728477c4 | 682 | } |
edac9072 | 683 | |
4cff3ded | 684 | // Convert target from millimeters to steps, and append this to the planner |
da947c62 | 685 | void Robot::append_milestone( float target[], float rate_mm_s ) |
df6a30f2 | 686 | { |
1ad23cd3 | 687 | float deltas[3]; |
df6a30f2 MM |
688 | float unit_vec[3]; |
689 | float actuator_pos[3]; | |
3632a517 | 690 | float transformed_target[3]; // adjust target for bed compensation |
df6a30f2 MM |
691 | float millimeters_of_travel; |
692 | ||
3632a517 JM |
693 | // unity transform by default |
694 | memcpy(transformed_target, target, sizeof(transformed_target)); | |
5e45206a | 695 | |
3632a517 JM |
696 | // check function pointer and call if set to transform the target to compensate for bed |
697 | if(compensationTransform) { | |
698 | // some compensation strategies can transform XYZ, some just change Z | |
699 | compensationTransform(transformed_target); | |
33742399 | 700 | } |
ff7e9858 | 701 | |
3632a517 JM |
702 | // find distance moved by each axis, use transformed target from last_transformed_target |
703 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++){ | |
704 | deltas[axis] = transformed_target[axis] - transformed_last_milestone[axis]; | |
705 | } | |
706 | // store last transformed | |
707 | memcpy(this->transformed_last_milestone, transformed_target, sizeof(this->transformed_last_milestone)); | |
aab6cbba | 708 | |
edac9072 | 709 | // Compute how long this move moves, so we can attach it to the block for later use |
869acfb8 | 710 | millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) ); |
df6a30f2 MM |
711 | |
712 | // find distance unit vector | |
713 | for (int i = 0; i < 3; i++) | |
714 | unit_vec[i] = deltas[i] / millimeters_of_travel; | |
715 | ||
716 | // Do not move faster than the configured cartesian limits | |
4710532a JM |
717 | for (int axis = X_AXIS; axis <= Z_AXIS; axis++) { |
718 | if ( max_speeds[axis] > 0 ) { | |
da947c62 | 719 | float axis_speed = fabs(unit_vec[axis] * rate_mm_s); |
df6a30f2 MM |
720 | |
721 | if (axis_speed > max_speeds[axis]) | |
da947c62 | 722 | rate_mm_s *= ( max_speeds[axis] / axis_speed ); |
7b470506 AW |
723 | } |
724 | } | |
4cff3ded | 725 | |
5e45206a | 726 | // find actuator position given cartesian position, use actual adjusted target |
3632a517 | 727 | arm_solution->cartesian_to_actuator( transformed_target, actuator_pos ); |
df6a30f2 MM |
728 | |
729 | // check per-actuator speed limits | |
4710532a | 730 | for (int actuator = 0; actuator <= 2; actuator++) { |
da947c62 | 731 | float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel; |
df6a30f2 | 732 | |
3494f3d0 JM |
733 | if (actuator_rate > actuators[actuator]->get_max_rate()) |
734 | rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate); | |
df6a30f2 MM |
735 | } |
736 | ||
edac9072 | 737 | // Append the block to the planner |
da947c62 | 738 | THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec ); |
4cff3ded | 739 | |
5e45206a | 740 | // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one |
c2885de8 | 741 | memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[]; |
4cff3ded AW |
742 | |
743 | } | |
744 | ||
edac9072 | 745 | // Append a move to the queue ( cutting it into segments if needed ) |
4710532a JM |
746 | void Robot::append_line(Gcode *gcode, float target[], float rate_mm_s ) |
747 | { | |
edac9072 | 748 | // Find out the distance for this gcode |
a9d299ab | 749 | // NOTE we need to do sqrt here as this setting of millimeters_of_travel is used by extruder and other modules even if there is no XYZ move |
3b4b05b8 | 750 | gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - this->last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - this->last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - this->last_milestone[Z_AXIS], 2 )); |
4cff3ded | 751 | |
3b4b05b8 JM |
752 | // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves ) |
753 | if( gcode->millimeters_of_travel < 0.00001F ) { | |
95b4885b JM |
754 | return; |
755 | } | |
436a2cd1 | 756 | |
edac9072 | 757 | // Mark the gcode as having a known distance |
5dcb2ff3 | 758 | this->distance_in_gcode_is_known( gcode ); |
436a2cd1 | 759 | |
4a0c8e14 JM |
760 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
761 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. | |
3b4b05b8 JM |
762 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second |
763 | // 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 | 764 | uint16_t segments; |
5984acdf | 765 | |
c2885de8 | 766 | if(this->delta_segments_per_second > 1.0F) { |
4a0c8e14 JM |
767 | // enabled if set to something > 1, it is set to 0.0 by default |
768 | // segment based on current speed and requested segments per second | |
769 | // the faster the travel speed the fewer segments needed | |
770 | // NOTE rate is mm/sec and we take into account any speed override | |
da947c62 | 771 | float seconds = gcode->millimeters_of_travel / rate_mm_s; |
9502f9d5 | 772 | segments = max(1.0F, ceilf(this->delta_segments_per_second * seconds)); |
4a0c8e14 | 773 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
5984acdf | 774 | |
4710532a JM |
775 | } else { |
776 | if(this->mm_per_line_segment == 0.0F) { | |
777 | segments = 1; // don't split it up | |
778 | } else { | |
9502f9d5 | 779 | segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment); |
4a0c8e14 JM |
780 | } |
781 | } | |
5984acdf | 782 | |
4710532a | 783 | if (segments > 1) { |
2ba859c9 MM |
784 | // A vector to keep track of the endpoint of each segment |
785 | float segment_delta[3]; | |
786 | float segment_end[3]; | |
787 | ||
788 | // How far do we move each segment? | |
9fff6045 | 789 | for (int i = X_AXIS; i <= Z_AXIS; i++) |
2ba859c9 | 790 | segment_delta[i] = (target[i] - last_milestone[i]) / segments; |
4cff3ded | 791 | |
c8e0fb15 MM |
792 | // segment 0 is already done - it's the end point of the previous move so we start at segment 1 |
793 | // We always add another point after this loop so we stop at segments-1, ie i < segments | |
4710532a | 794 | for (int i = 1; i < segments; i++) { |
1da77df4 | 795 | if(halted) return; // don't queue any more segments |
4710532a | 796 | for(int axis = X_AXIS; axis <= Z_AXIS; axis++ ) |
2ba859c9 MM |
797 | segment_end[axis] = last_milestone[axis] + segment_delta[axis]; |
798 | ||
799 | // Append the end of this segment to the queue | |
800 | this->append_milestone(segment_end, rate_mm_s); | |
801 | } | |
4cff3ded | 802 | } |
5984acdf MM |
803 | |
804 | // Append the end of this full move to the queue | |
da947c62 | 805 | this->append_milestone(target, rate_mm_s); |
2134bcf2 MM |
806 | |
807 | // if adding these blocks didn't start executing, do that now | |
808 | THEKERNEL->conveyor->ensure_running(); | |
4cff3ded AW |
809 | } |
810 | ||
4cff3ded | 811 | |
edac9072 | 812 | // Append an arc to the queue ( cutting it into segments as needed ) |
4710532a JM |
813 | void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radius, bool is_clockwise ) |
814 | { | |
aab6cbba | 815 | |
edac9072 | 816 | // Scary math |
2ba859c9 MM |
817 | float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0]; |
818 | float center_axis1 = this->last_milestone[this->plane_axis_1] + offset[this->plane_axis_1]; | |
819 | float linear_travel = target[this->plane_axis_2] - this->last_milestone[this->plane_axis_2]; | |
1ad23cd3 MM |
820 | float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
821 | float r_axis1 = -offset[this->plane_axis_1]; | |
822 | float rt_axis0 = target[this->plane_axis_0] - center_axis0; | |
823 | float rt_axis1 = target[this->plane_axis_1] - center_axis1; | |
aab6cbba | 824 | |
51871fb8 | 825 | // Patch from GRBL Firmware - Christoph Baumann 04072015 |
aab6cbba | 826 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
5fa0c173 PA |
827 | float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
828 | if (is_clockwise) { // Correct atan2 output per direction | |
829 | if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2*M_PI; } | |
830 | } else { | |
831 | if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2*M_PI; } | |
4710532a | 832 | } |
aab6cbba | 833 | |
edac9072 | 834 | // Find the distance for this gcode |
4710532a | 835 | gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel)); |
436a2cd1 | 836 | |
edac9072 | 837 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
3b4b05b8 | 838 | if( gcode->millimeters_of_travel < 0.00001F ) { |
4710532a JM |
839 | return; |
840 | } | |
5dcb2ff3 | 841 | |
edac9072 | 842 | // Mark the gcode as having a known distance |
d149c730 | 843 | this->distance_in_gcode_is_known( gcode ); |
5984acdf MM |
844 | |
845 | // Figure out how many segments for this gcode | |
c8f4ee77 | 846 | uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment); |
aab6cbba | 847 | |
4710532a JM |
848 | float theta_per_segment = angular_travel / segments; |
849 | float linear_per_segment = linear_travel / segments; | |
aab6cbba AW |
850 | |
851 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, | |
852 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. | |
853 | r_T = [cos(phi) -sin(phi); | |
854 | sin(phi) cos(phi] * r ; | |
855 | For arc generation, the center of the circle is the axis of rotation and the radius vector is | |
856 | defined from the circle center to the initial position. Each line segment is formed by successive | |
857 | vector rotations. This requires only two cos() and sin() computations to form the rotation | |
858 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since | |
1ad23cd3 | 859 | all float numbers are single precision on the Arduino. (True float precision will not have |
aab6cbba AW |
860 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
861 | tool precision in some cases. Therefore, arc path correction is implemented. | |
862 | ||
863 | Small angle approximation may be used to reduce computation overhead further. This approximation | |
864 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, | |
865 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large | |
866 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for | |
867 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an | |
868 | issue for CNC machines with the single precision Arduino calculations. | |
869 | This approximation also allows mc_arc to immediately insert a line segment into the planner | |
870 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied | |
871 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. | |
872 | This is important when there are successive arc motions. | |
873 | */ | |
874 | // Vector rotation matrix values | |
4710532a | 875 | float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation |
1ad23cd3 | 876 | float sin_T = theta_per_segment; |
aab6cbba | 877 | |
1ad23cd3 MM |
878 | float arc_target[3]; |
879 | float sin_Ti; | |
880 | float cos_Ti; | |
881 | float r_axisi; | |
aab6cbba AW |
882 | uint16_t i; |
883 | int8_t count = 0; | |
884 | ||
885 | // Initialize the linear axis | |
2ba859c9 | 886 | arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2]; |
aab6cbba | 887 | |
4710532a | 888 | for (i = 1; i < segments; i++) { // Increment (segments-1) |
728477c4 | 889 | if(halted) return; // don't queue any more segments |
aab6cbba | 890 | |
b66fb830 | 891 | if (count < this->arc_correction ) { |
4710532a JM |
892 | // Apply vector rotation matrix |
893 | r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; | |
894 | r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; | |
895 | r_axis1 = r_axisi; | |
896 | count++; | |
aab6cbba | 897 | } else { |
4710532a JM |
898 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
899 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). | |
900 | cos_Ti = cosf(i * theta_per_segment); | |
901 | sin_Ti = sinf(i * theta_per_segment); | |
902 | r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti; | |
903 | r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti; | |
904 | count = 0; | |
aab6cbba AW |
905 | } |
906 | ||
907 | // Update arc_target location | |
908 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; | |
909 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; | |
910 | arc_target[this->plane_axis_2] += linear_per_segment; | |
edac9072 AW |
911 | |
912 | // Append this segment to the queue | |
da947c62 | 913 | this->append_milestone(arc_target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
914 | |
915 | } | |
edac9072 | 916 | |
aab6cbba | 917 | // Ensure last segment arrives at target location. |
da947c62 | 918 | this->append_milestone(target, this->feed_rate / seconds_per_minute); |
aab6cbba AW |
919 | } |
920 | ||
edac9072 | 921 | // Do the math for an arc and add it to the queue |
4710532a JM |
922 | void Robot::compute_arc(Gcode *gcode, float offset[], float target[]) |
923 | { | |
aab6cbba AW |
924 | |
925 | // Find the radius | |
13addf09 | 926 | float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
aab6cbba AW |
927 | |
928 | // Set clockwise/counter-clockwise sign for mc_arc computations | |
929 | bool is_clockwise = false; | |
4710532a JM |
930 | if( this->motion_mode == MOTION_MODE_CW_ARC ) { |
931 | is_clockwise = true; | |
932 | } | |
aab6cbba AW |
933 | |
934 | // Append arc | |
436a2cd1 | 935 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
aab6cbba AW |
936 | |
937 | } | |
938 | ||
939 | ||
4710532a JM |
940 | float Robot::theta(float x, float y) |
941 | { | |
942 | float t = atanf(x / fabs(y)); | |
943 | if (y > 0) { | |
944 | return(t); | |
945 | } else { | |
946 | if (t > 0) { | |
947 | return(M_PI - t); | |
948 | } else { | |
949 | return(-M_PI - t); | |
950 | } | |
951 | } | |
4cff3ded AW |
952 | } |
953 | ||
4710532a JM |
954 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) |
955 | { | |
4cff3ded AW |
956 | this->plane_axis_0 = axis_0; |
957 | this->plane_axis_1 = axis_1; | |
958 | this->plane_axis_2 = axis_2; | |
959 | } | |
960 | ||
fae93525 | 961 | void Robot::clearToolOffset() |
4710532a | 962 | { |
fae93525 JM |
963 | memset(this->toolOffset, 0, sizeof(this->toolOffset)); |
964 | } | |
965 | ||
966 | void Robot::setToolOffset(const float offset[3]) | |
967 | { | |
fae93525 | 968 | memcpy(this->toolOffset, offset, sizeof(this->toolOffset)); |
5966b7d0 AT |
969 | } |
970 |