| 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) with additions from Sungeun K. Jeon (https://github.com/chamnit/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 | #include "libs/Module.h" |
| 9 | #include "libs/Kernel.h" |
| 10 | #include <string> |
| 11 | using std::string; |
| 12 | #include <math.h> |
| 13 | #include "Planner.h" |
| 14 | #include "Conveyor.h" |
| 15 | #include "Robot.h" |
| 16 | #include "libs/nuts_bolts.h" |
| 17 | #include "libs/Pin.h" |
| 18 | #include "libs/StepperMotor.h" |
| 19 | #include "../communication/utils/Gcode.h" |
| 20 | #include "arm_solutions/BaseSolution.h" |
| 21 | #include "arm_solutions/CartesianSolution.h" |
| 22 | #include "arm_solutions/RotatableCartesianSolution.h" |
| 23 | #include "arm_solutions/RostockSolution.h" |
| 24 | #include "arm_solutions/HBotSolution.h" |
| 25 | |
| 26 | // 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 |
| 27 | // It takes care of cutting arcs into segments, same thing for line that are too long |
| 28 | |
| 29 | Robot::Robot(){ |
| 30 | this->inch_mode = false; |
| 31 | this->absolute_mode = true; |
| 32 | this->motion_mode = MOTION_MODE_SEEK; |
| 33 | this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); |
| 34 | clear_vector(this->current_position); |
| 35 | clear_vector(this->last_milestone); |
| 36 | this->arm_solution = NULL; |
| 37 | seconds_per_minute = 60.0; |
| 38 | } |
| 39 | |
| 40 | //Called when the module has just been loaded |
| 41 | void Robot::on_module_loaded() { |
| 42 | register_for_event(ON_CONFIG_RELOAD); |
| 43 | this->register_for_event(ON_GCODE_RECEIVED); |
| 44 | |
| 45 | // Configuration |
| 46 | this->on_config_reload(this); |
| 47 | |
| 48 | // Make our 3 StepperMotors |
| 49 | this->alpha_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(&alpha_step_pin,&alpha_dir_pin,&alpha_en_pin) ); |
| 50 | this->beta_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(&beta_step_pin, &beta_dir_pin, &beta_en_pin ) ); |
| 51 | this->gamma_stepper_motor = this->kernel->step_ticker->add_stepper_motor( new StepperMotor(&gamma_step_pin,&gamma_dir_pin,&gamma_en_pin) ); |
| 52 | |
| 53 | } |
| 54 | |
| 55 | void Robot::on_config_reload(void* argument){ |
| 56 | |
| 57 | // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor. |
| 58 | // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done. |
| 59 | // To make adding those solution easier, they have their own, separate object. |
| 60 | // Here we read the config to find out which arm solution to use |
| 61 | if (this->arm_solution) delete this->arm_solution; |
| 62 | int solution_checksum = get_checksum(this->kernel->config->value(arm_solution_checksum)->by_default("cartesian")->as_string()); |
| 63 | // Note checksums are not const expressions when in debug mode, so don't use switch |
| 64 | if(solution_checksum == hbot_checksum) { |
| 65 | this->arm_solution = new HBotSolution(this->kernel->config); |
| 66 | |
| 67 | }else if(solution_checksum == rostock_checksum) { |
| 68 | this->arm_solution = new RostockSolution(this->kernel->config); |
| 69 | |
| 70 | }else if(solution_checksum == delta_checksum) { |
| 71 | // place holder for now |
| 72 | this->arm_solution = new RostockSolution(this->kernel->config); |
| 73 | |
| 74 | }else if(solution_checksum == rotatable_cartesian_checksum) { |
| 75 | this->arm_solution = new RotatableCartesianSolution(this->kernel->config); |
| 76 | |
| 77 | }else if(solution_checksum == cartesian_checksum) { |
| 78 | this->arm_solution = new CartesianSolution(this->kernel->config); |
| 79 | |
| 80 | }else{ |
| 81 | this->arm_solution = new CartesianSolution(this->kernel->config); |
| 82 | } |
| 83 | |
| 84 | |
| 85 | this->feed_rate = this->kernel->config->value(default_feed_rate_checksum )->by_default(100 )->as_number() / 60; |
| 86 | this->seek_rate = this->kernel->config->value(default_seek_rate_checksum )->by_default(100 )->as_number() / 60; |
| 87 | this->mm_per_line_segment = this->kernel->config->value(mm_per_line_segment_checksum )->by_default(0.0 )->as_number(); |
| 88 | this->delta_segments_per_second = this->kernel->config->value(delta_segments_per_second_checksum )->by_default(0.0 )->as_number(); |
| 89 | this->mm_per_arc_segment = this->kernel->config->value(mm_per_arc_segment_checksum )->by_default(0.5 )->as_number(); |
| 90 | this->arc_correction = this->kernel->config->value(arc_correction_checksum )->by_default(5 )->as_number(); |
| 91 | this->max_speeds[X_AXIS] = this->kernel->config->value(x_axis_max_speed_checksum )->by_default(60000 )->as_number(); |
| 92 | this->max_speeds[Y_AXIS] = this->kernel->config->value(y_axis_max_speed_checksum )->by_default(60000 )->as_number(); |
| 93 | this->max_speeds[Z_AXIS] = this->kernel->config->value(z_axis_max_speed_checksum )->by_default(300 )->as_number(); |
| 94 | this->alpha_step_pin.from_string( this->kernel->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output(); |
| 95 | this->alpha_dir_pin.from_string( this->kernel->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output(); |
| 96 | this->alpha_en_pin.from_string( this->kernel->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output()->as_open_drain(); |
| 97 | this->beta_step_pin.from_string( this->kernel->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output(); |
| 98 | this->gamma_step_pin.from_string( this->kernel->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output(); |
| 99 | this->gamma_dir_pin.from_string( this->kernel->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output(); |
| 100 | this->gamma_en_pin.from_string( this->kernel->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output()->as_open_drain(); |
| 101 | this->beta_dir_pin.from_string( this->kernel->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output(); |
| 102 | this->beta_en_pin.from_string( this->kernel->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output()->as_open_drain(); |
| 103 | |
| 104 | } |
| 105 | |
| 106 | //A GCode has been received |
| 107 | //See if the current Gcode line has some orders for us |
| 108 | void Robot::on_gcode_received(void * argument){ |
| 109 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 110 | |
| 111 | //Temp variables, constant properties are stored in the object |
| 112 | uint8_t next_action = NEXT_ACTION_DEFAULT; |
| 113 | this->motion_mode = -1; |
| 114 | |
| 115 | //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly |
| 116 | if( gcode->has_g){ |
| 117 | switch( gcode->g ){ |
| 118 | case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break; |
| 119 | case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break; |
| 120 | case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break; |
| 121 | case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break; |
| 122 | case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break; |
| 123 | case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break; |
| 124 | case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break; |
| 125 | case 20: this->inch_mode = true; gcode->mark_as_taken(); break; |
| 126 | case 21: this->inch_mode = false; gcode->mark_as_taken(); break; |
| 127 | case 90: this->absolute_mode = true; gcode->mark_as_taken(); break; |
| 128 | case 91: this->absolute_mode = false; gcode->mark_as_taken(); break; |
| 129 | case 92: { |
| 130 | if(gcode->get_num_args() == 0){ |
| 131 | clear_vector(this->last_milestone); |
| 132 | }else{ |
| 133 | for (char letter = 'X'; letter <= 'Z'; letter++){ |
| 134 | if ( gcode->has_letter(letter) ) |
| 135 | this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter)); |
| 136 | } |
| 137 | } |
| 138 | memcpy(this->current_position, this->last_milestone, sizeof(double)*3); // current_position[] = last_milestone[]; |
| 139 | this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); |
| 140 | gcode->mark_as_taken(); |
| 141 | return; // TODO: Wait until queue empty |
| 142 | } |
| 143 | } |
| 144 | }else if( gcode->has_m){ |
| 145 | switch( gcode->m ){ |
| 146 | case 92: // M92 - set steps per mm |
| 147 | double steps[3]; |
| 148 | this->arm_solution->get_steps_per_millimeter(steps); |
| 149 | if (gcode->has_letter('X')) |
| 150 | steps[0] = this->to_millimeters(gcode->get_value('X')); |
| 151 | if (gcode->has_letter('Y')) |
| 152 | steps[1] = this->to_millimeters(gcode->get_value('Y')); |
| 153 | if (gcode->has_letter('Z')) |
| 154 | steps[2] = this->to_millimeters(gcode->get_value('Z')); |
| 155 | if (gcode->has_letter('F')) |
| 156 | seconds_per_minute = gcode->get_value('F'); |
| 157 | this->arm_solution->set_steps_per_millimeter(steps); |
| 158 | // update current position in steps |
| 159 | this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); |
| 160 | gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", steps[0], steps[1], steps[2], seconds_per_minute); |
| 161 | gcode->add_nl = true; |
| 162 | gcode->mark_as_taken(); |
| 163 | return; |
| 164 | case 114: gcode->stream->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ", |
| 165 | from_millimeters(this->current_position[0]), |
| 166 | from_millimeters(this->current_position[1]), |
| 167 | from_millimeters(this->current_position[2])); |
| 168 | gcode->add_nl = true; |
| 169 | gcode->mark_as_taken(); |
| 170 | return; |
| 171 | case 220: // M220 - speed override percentage |
| 172 | gcode->mark_as_taken(); |
| 173 | if (gcode->has_letter('S')) |
| 174 | { |
| 175 | double factor = gcode->get_value('S'); |
| 176 | // enforce minimum 1% speed |
| 177 | if (factor < 1.0) |
| 178 | factor = 1.0; |
| 179 | seconds_per_minute = factor * 0.6; |
| 180 | } |
| 181 | } |
| 182 | } |
| 183 | if( this->motion_mode < 0) |
| 184 | return; |
| 185 | |
| 186 | //Get parameters |
| 187 | double target[3], offset[3]; |
| 188 | clear_vector(target); clear_vector(offset); |
| 189 | |
| 190 | memcpy(target, this->current_position, sizeof(target)); //default to last target |
| 191 | |
| 192 | for(char letter = 'I'; letter <= 'K'; letter++){ if( gcode->has_letter(letter) ){ offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter)); } } |
| 193 | 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']); } } |
| 194 | |
| 195 | if( gcode->has_letter('F') ) |
| 196 | { |
| 197 | if( this->motion_mode == MOTION_MODE_SEEK ) |
| 198 | this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0; |
| 199 | else |
| 200 | this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0; |
| 201 | } |
| 202 | |
| 203 | //Perform any physical actions |
| 204 | switch( next_action ){ |
| 205 | case NEXT_ACTION_DEFAULT: |
| 206 | switch(this->motion_mode){ |
| 207 | case MOTION_MODE_CANCEL: break; |
| 208 | case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break; |
| 209 | case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break; |
| 210 | case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break; |
| 211 | } |
| 212 | break; |
| 213 | } |
| 214 | |
| 215 | // As far as the parser is concerned, the position is now == target. In reality the |
| 216 | // motion control system might still be processing the action and the real tool position |
| 217 | // in any intermediate location. |
| 218 | memcpy(this->current_position, target, sizeof(double)*3); // this->position[] = target[]; |
| 219 | |
| 220 | |
| 221 | |
| 222 | |
| 223 | } |
| 224 | |
| 225 | // We received a new gcode, and one of the functions |
| 226 | // determined the distance for that given gcode. So now we can attach this gcode to the right block |
| 227 | // and continue |
| 228 | void Robot::distance_in_gcode_is_known(Gcode* gcode){ |
| 229 | |
| 230 | //If the queue is empty, execute immediatly, otherwise attach to the last added block |
| 231 | if( this->kernel->conveyor->queue.size() == 0 ){ |
| 232 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); |
| 233 | }else{ |
| 234 | Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); |
| 235 | block->append_gcode(gcode); |
| 236 | } |
| 237 | |
| 238 | } |
| 239 | |
| 240 | // Reset the position for all axes ( used in homing and G92 stuff ) |
| 241 | void Robot::reset_axis_position(double position, int axis) { |
| 242 | this->last_milestone[axis] = this->current_position[axis] = position; |
| 243 | this->arm_solution->millimeters_to_steps(this->current_position, this->kernel->planner->position); |
| 244 | } |
| 245 | |
| 246 | |
| 247 | // Convert target from millimeters to steps, and append this to the planner |
| 248 | void Robot::append_milestone( double target[], double rate ){ |
| 249 | int steps[3]; //Holds the result of the conversion |
| 250 | |
| 251 | // We use an arm solution object so exotic arm solutions can be used and neatly abstracted |
| 252 | this->arm_solution->millimeters_to_steps( target, steps ); |
| 253 | |
| 254 | double deltas[3]; |
| 255 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];} |
| 256 | |
| 257 | // Compute how long this move moves, so we can attach it to the block for later use |
| 258 | double millimeters_of_travel = sqrt( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) ); |
| 259 | |
| 260 | // Do not move faster than the configured limits |
| 261 | for(int axis=X_AXIS;axis<=Z_AXIS;axis++){ |
| 262 | if( this->max_speeds[axis] > 0 ){ |
| 263 | double axis_speed = ( fabs(deltas[axis]) / ( millimeters_of_travel / rate )) * seconds_per_minute; |
| 264 | if( axis_speed > this->max_speeds[axis] ){ |
| 265 | rate = rate * ( this->max_speeds[axis] / axis_speed ); |
| 266 | } |
| 267 | } |
| 268 | } |
| 269 | |
| 270 | // Append the block to the planner |
| 271 | this->kernel->planner->append_block( steps, rate * seconds_per_minute, millimeters_of_travel, deltas ); |
| 272 | |
| 273 | // Update the last_milestone to the current target for the next time we use last_milestone |
| 274 | memcpy(this->last_milestone, target, sizeof(double)*3); // this->last_milestone[] = target[]; |
| 275 | |
| 276 | } |
| 277 | |
| 278 | // Append a move to the queue ( cutting it into segments if needed ) |
| 279 | void Robot::append_line(Gcode* gcode, double target[], double rate ){ |
| 280 | |
| 281 | // Find out the distance for this gcode |
| 282 | gcode->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 ) ); |
| 283 | |
| 284 | // We ignore non-moves ( for example, extruder moves are not XYZ moves ) |
| 285 | if( gcode->millimeters_of_travel < 0.0001 ){ return; } |
| 286 | |
| 287 | // Mark the gcode as having a known distance |
| 288 | this->distance_in_gcode_is_known( gcode ); |
| 289 | |
| 290 | // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes. |
| 291 | // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste. |
| 292 | // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second 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 |
| 293 | uint16_t segments; |
| 294 | |
| 295 | if(this->delta_segments_per_second > 1.0) { |
| 296 | // enabled if set to something > 1, it is set to 0.0 by default |
| 297 | // segment based on current speed and requested segments per second |
| 298 | // the faster the travel speed the fewer segments needed |
| 299 | // NOTE rate is mm/sec and we take into account any speed override |
| 300 | float seconds = 60.0/seconds_per_minute * gcode->millimeters_of_travel / rate; |
| 301 | segments= max(1, ceil(this->delta_segments_per_second * seconds)); |
| 302 | // TODO if we are only moving in Z on a delta we don't really need to segment at all |
| 303 | |
| 304 | }else{ |
| 305 | if(this->mm_per_line_segment == 0.0){ |
| 306 | segments= 1; // don't split it up |
| 307 | }else{ |
| 308 | segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment); |
| 309 | } |
| 310 | } |
| 311 | |
| 312 | // A vector to keep track of the endpoint of each segment |
| 313 | double temp_target[3]; |
| 314 | //Initialize axes |
| 315 | memcpy( temp_target, this->current_position, sizeof(double)*3); // temp_target[] = this->current_position[]; |
| 316 | |
| 317 | //For each segment |
| 318 | for( int i=0; i<segments-1; i++ ){ |
| 319 | for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; } |
| 320 | // Append the end of this segment to the queue |
| 321 | this->append_milestone(temp_target, rate); |
| 322 | } |
| 323 | |
| 324 | // Append the end of this full move to the queue |
| 325 | this->append_milestone(target, rate); |
| 326 | } |
| 327 | |
| 328 | |
| 329 | // Append an arc to the queue ( cutting it into segments as needed ) |
| 330 | void Robot::append_arc(Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise ){ |
| 331 | |
| 332 | // Scary math |
| 333 | double center_axis0 = this->current_position[this->plane_axis_0] + offset[this->plane_axis_0]; |
| 334 | double center_axis1 = this->current_position[this->plane_axis_1] + offset[this->plane_axis_1]; |
| 335 | double linear_travel = target[this->plane_axis_2] - this->current_position[this->plane_axis_2]; |
| 336 | double r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location |
| 337 | double r_axis1 = -offset[this->plane_axis_1]; |
| 338 | double rt_axis0 = target[this->plane_axis_0] - center_axis0; |
| 339 | double rt_axis1 = target[this->plane_axis_1] - center_axis1; |
| 340 | |
| 341 | // CCW angle between position and target from circle center. Only one atan2() trig computation required. |
| 342 | double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); |
| 343 | if (angular_travel < 0) { angular_travel += 2*M_PI; } |
| 344 | if (is_clockwise) { angular_travel -= 2*M_PI; } |
| 345 | |
| 346 | // Find the distance for this gcode |
| 347 | gcode->millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); |
| 348 | |
| 349 | // We don't care about non-XYZ moves ( for example the extruder produces some of those ) |
| 350 | if( gcode->millimeters_of_travel < 0.0001 ){ return; } |
| 351 | |
| 352 | // Mark the gcode as having a known distance |
| 353 | this->distance_in_gcode_is_known( gcode ); |
| 354 | |
| 355 | // Figure out how many segments for this gcode |
| 356 | uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment); |
| 357 | |
| 358 | double theta_per_segment = angular_travel/segments; |
| 359 | double linear_per_segment = linear_travel/segments; |
| 360 | |
| 361 | /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, |
| 362 | and phi is the angle of rotation. Based on the solution approach by Jens Geisler. |
| 363 | r_T = [cos(phi) -sin(phi); |
| 364 | sin(phi) cos(phi] * r ; |
| 365 | For arc generation, the center of the circle is the axis of rotation and the radius vector is |
| 366 | defined from the circle center to the initial position. Each line segment is formed by successive |
| 367 | vector rotations. This requires only two cos() and sin() computations to form the rotation |
| 368 | matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since |
| 369 | all double numbers are single precision on the Arduino. (True double precision will not have |
| 370 | round off issues for CNC applications.) Single precision error can accumulate to be greater than |
| 371 | tool precision in some cases. Therefore, arc path correction is implemented. |
| 372 | |
| 373 | Small angle approximation may be used to reduce computation overhead further. This approximation |
| 374 | holds for everything, but very small circles and large mm_per_arc_segment values. In other words, |
| 375 | theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large |
| 376 | to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for |
| 377 | numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an |
| 378 | issue for CNC machines with the single precision Arduino calculations. |
| 379 | This approximation also allows mc_arc to immediately insert a line segment into the planner |
| 380 | without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied |
| 381 | a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. |
| 382 | This is important when there are successive arc motions. |
| 383 | */ |
| 384 | // Vector rotation matrix values |
| 385 | double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation |
| 386 | double sin_T = theta_per_segment; |
| 387 | |
| 388 | double arc_target[3]; |
| 389 | double sin_Ti; |
| 390 | double cos_Ti; |
| 391 | double r_axisi; |
| 392 | uint16_t i; |
| 393 | int8_t count = 0; |
| 394 | |
| 395 | // Initialize the linear axis |
| 396 | arc_target[this->plane_axis_2] = this->current_position[this->plane_axis_2]; |
| 397 | |
| 398 | for (i = 1; i<segments; i++) { // Increment (segments-1) |
| 399 | |
| 400 | if (count < this->arc_correction ) { |
| 401 | // Apply vector rotation matrix |
| 402 | r_axisi = r_axis0*sin_T + r_axis1*cos_T; |
| 403 | r_axis0 = r_axis0*cos_T - r_axis1*sin_T; |
| 404 | r_axis1 = r_axisi; |
| 405 | count++; |
| 406 | } else { |
| 407 | // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. |
| 408 | // Compute exact location by applying transformation matrix from initial radius vector(=-offset). |
| 409 | cos_Ti = cos(i*theta_per_segment); |
| 410 | sin_Ti = sin(i*theta_per_segment); |
| 411 | r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti; |
| 412 | r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti; |
| 413 | count = 0; |
| 414 | } |
| 415 | |
| 416 | // Update arc_target location |
| 417 | arc_target[this->plane_axis_0] = center_axis0 + r_axis0; |
| 418 | arc_target[this->plane_axis_1] = center_axis1 + r_axis1; |
| 419 | arc_target[this->plane_axis_2] += linear_per_segment; |
| 420 | |
| 421 | // Append this segment to the queue |
| 422 | this->append_milestone(arc_target, this->feed_rate); |
| 423 | |
| 424 | } |
| 425 | |
| 426 | // Ensure last segment arrives at target location. |
| 427 | this->append_milestone(target, this->feed_rate); |
| 428 | } |
| 429 | |
| 430 | // Do the math for an arc and add it to the queue |
| 431 | void Robot::compute_arc(Gcode* gcode, double offset[], double target[]){ |
| 432 | |
| 433 | // Find the radius |
| 434 | double radius = hypot(offset[this->plane_axis_0], offset[this->plane_axis_1]); |
| 435 | |
| 436 | // Set clockwise/counter-clockwise sign for mc_arc computations |
| 437 | bool is_clockwise = false; |
| 438 | if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; } |
| 439 | |
| 440 | // Append arc |
| 441 | this->append_arc(gcode, target, offset, radius, is_clockwise ); |
| 442 | |
| 443 | } |
| 444 | |
| 445 | |
| 446 | // Convert from inches to millimeters ( our internal storage unit ) if needed |
| 447 | inline double Robot::to_millimeters( double value ){ |
| 448 | return this->inch_mode ? value * 25.4 : value; |
| 449 | } |
| 450 | inline double Robot::from_millimeters( double value){ |
| 451 | return this->inch_mode ? value/25.4 : value; |
| 452 | } |
| 453 | |
| 454 | double Robot::theta(double x, double y){ |
| 455 | double t = atan(x/fabs(y)); |
| 456 | if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}} |
| 457 | } |
| 458 | |
| 459 | void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){ |
| 460 | this->plane_axis_0 = axis_0; |
| 461 | this->plane_axis_1 = axis_1; |
| 462 | this->plane_axis_2 = axis_2; |
| 463 | } |
| 464 | |
| 465 | |