src/modules/robot/Robot.h

   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 this 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 * 25.4F : value;
 108 }
 109 inline float Robot::from_millimeters( float value){
 110     return this->inch_mode ? value/25.4F : value;
 111 }
 112 inline void Robot::get_axis_position(float position[]){
 113     memcpy(position, this->last_milestone, sizeof(float)*3 );
 114 }
 115
 116 #endif