| 1 | /* |
| 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/>. |
| 6 | */ |
| 7 | |
| 8 | #ifndef ROBOT_H |
| 9 | #define ROBOT_H |
| 10 | |
| 11 | #include <string> |
| 12 | using std::string; |
| 13 | #include <string.h> |
| 14 | #include <functional> |
| 15 | #include <stack> |
| 16 | |
| 17 | #include "libs/Module.h" |
| 18 | #include "ActuatorCoordinates.h" |
| 19 | |
| 20 | class Gcode; |
| 21 | class BaseSolution; |
| 22 | class StepperMotor; |
| 23 | |
| 24 | class Robot : public Module { |
| 25 | public: |
| 26 | Robot(); |
| 27 | void on_module_loaded(); |
| 28 | void on_gcode_received(void* argument); |
| 29 | |
| 30 | void reset_axis_position(float position, int axis); |
| 31 | void reset_axis_position(float x, float y, float z); |
| 32 | void reset_position_from_current_actuator_position(); |
| 33 | void get_axis_position(float position[]); |
| 34 | float to_millimeters(float value); |
| 35 | float from_millimeters(float value); |
| 36 | float get_seconds_per_minute() const { return seconds_per_minute; } |
| 37 | float get_z_maxfeedrate() const { return this->max_speeds[2]; } |
| 38 | void setToolOffset(const float offset[3]); |
| 39 | float get_feed_rate() const { return feed_rate; } |
| 40 | void push_state(); |
| 41 | void pop_state(); |
| 42 | void check_max_actuator_speeds(); |
| 43 | |
| 44 | BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation ) |
| 45 | |
| 46 | // gets accessed by Panel, Endstops, ZProbe |
| 47 | std::array<StepperMotor*, k_max_actuators> actuators; |
| 48 | |
| 49 | // set by a leveling strategy to transform the target of a move according to the current plan |
| 50 | std::function<void(float[3])> compensationTransform; |
| 51 | |
| 52 | struct { |
| 53 | bool inch_mode:1; // true for inch mode, false for millimeter mode ( default ) |
| 54 | bool absolute_mode:1; // true for absolute mode ( default ), false for relative mode |
| 55 | }; |
| 56 | |
| 57 | private: |
| 58 | void load_config(); |
| 59 | void distance_in_gcode_is_known(Gcode* gcode); |
| 60 | void append_milestone( Gcode *gcode, float target[], float rate_mm_s); |
| 61 | void append_line( Gcode* gcode, float target[], float rate_mm_s); |
| 62 | void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ); |
| 63 | void compute_arc(Gcode* gcode, float offset[], float target[]); |
| 64 | |
| 65 | float theta(float x, float y); |
| 66 | void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2); |
| 67 | void clearToolOffset(); |
| 68 | |
| 69 | // Workspace coordinate systems |
| 70 | using wcs_t= std::tuple<float, float, float>; |
| 71 | static const size_t k_max_wcs= 9; // setup 9 WCS offsets |
| 72 | std::array<wcs_t, k_max_wcs> wcs_offsets; // these are persistent once set |
| 73 | uint8_t current_wcs{0}; // 0 means G54 in enabled thisĀ is persistent |
| 74 | wcs_t g92_offset; |
| 75 | |
| 76 | using saved_state_t= std::tuple<float, float, bool, bool>; // save current feedrate and absolute mode, inch mode |
| 77 | std::stack<saved_state_t> state_stack; // saves state from M120 |
| 78 | |
| 79 | float last_milestone[3]; // Last position, in millimeters |
| 80 | float transformed_last_milestone[3]; // Last transformed position |
| 81 | int8_t motion_mode; // Motion mode for the current received Gcode |
| 82 | uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ ) |
| 83 | float seek_rate; // Current rate for seeking moves ( mm/s ) |
| 84 | float feed_rate; // Current rate for feeding moves ( mm/s ) |
| 85 | float mm_per_line_segment; // Setting : Used to split lines into segments |
| 86 | float mm_per_arc_segment; // Setting : Used to split arcs into segmentrs |
| 87 | float delta_segments_per_second; // Setting : Used to split lines into segments for delta based on speed |
| 88 | float seconds_per_minute; // for realtime speed change |
| 89 | |
| 90 | // Number of arc generation iterations by small angle approximation before exact arc trajectory |
| 91 | // correction. This parameter maybe decreased if there are issues with the accuracy of the arc |
| 92 | // generations. In general, the default value is more than enough for the intended CNC applications |
| 93 | // of grbl, and should be on the order or greater than the size of the buffer to help with the |
| 94 | // computational efficiency of generating arcs. |
| 95 | int arc_correction; // Setting : how often to rectify arc computation |
| 96 | float max_speeds[3]; // Setting : max allowable speed in mm/m for each axis |
| 97 | |
| 98 | float toolOffset[3]; |
| 99 | |
| 100 | // Used by Stepper, Planner |
| 101 | friend class Planner; |
| 102 | friend class Stepper; |
| 103 | }; |
| 104 | |
| 105 | // Convert from inches to millimeters ( our internal storage unit ) if needed |
| 106 | inline float Robot::to_millimeters( float value ){ |
| 107 | return this->inch_mode ? value * 25.4 : value; |
| 108 | } |
| 109 | inline float Robot::from_millimeters( float value){ |
| 110 | return this->inch_mode ? value/25.4 : value; |
| 111 | } |
| 112 | inline void Robot::get_axis_position(float position[]){ |
| 113 | memcpy(position, this->last_milestone, sizeof(float)*3 ); |
| 114 | } |
| 115 | |
| 116 | #endif |