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/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
15 #include "StepperMotor.h"
17 #include "PublicDataRequest.h"
18 #include "PublicData.h"
19 #include "arm_solutions/BaseSolution.h"
20 #include "arm_solutions/CartesianSolution.h"
21 #include "arm_solutions/RotatableCartesianSolution.h"
22 #include "arm_solutions/LinearDeltaSolution.h"
23 #include "arm_solutions/RotaryDeltaSolution.h"
24 #include "arm_solutions/HBotSolution.h"
25 #include "arm_solutions/CoreXZSolution.h"
26 #include "arm_solutions/MorganSCARASolution.h"
27 #include "StepTicker.h"
28 #include "checksumm.h"
30 #include "ConfigValue.h"
31 #include "libs/StreamOutput.h"
32 #include "StreamOutputPool.h"
33 #include "ExtruderPublicAccess.h"
34 #include "GcodeDispatch.h"
35 #include "ActuatorCoordinates.h"
37 #include "mbed.h" // for us_ticker_read()
45 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
46 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
47 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
48 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
49 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
50 #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error")
51 #define arc_correction_checksum CHECKSUM("arc_correction")
52 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
53 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
54 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
55 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
56 #define save_g92_checksum CHECKSUM("save_g92")
57 #define set_g92_checksum CHECKSUM("set_g92")
60 #define arm_solution_checksum CHECKSUM("arm_solution")
61 #define cartesian_checksum CHECKSUM("cartesian")
62 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
63 #define rostock_checksum CHECKSUM("rostock")
64 #define linear_delta_checksum CHECKSUM("linear_delta")
65 #define rotary_delta_checksum CHECKSUM("rotary_delta")
66 #define delta_checksum CHECKSUM("delta")
67 #define hbot_checksum CHECKSUM("hbot")
68 #define corexy_checksum CHECKSUM("corexy")
69 #define corexz_checksum CHECKSUM("corexz")
70 #define kossel_checksum CHECKSUM("kossel")
71 #define morgan_checksum CHECKSUM("morgan")
73 // new-style actuator stuff
74 #define actuator_checksum CHEKCSUM("actuator")
76 #define step_pin_checksum CHECKSUM("step_pin")
77 #define dir_pin_checksum CHEKCSUM("dir_pin")
78 #define en_pin_checksum CHECKSUM("en_pin")
80 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
81 #define max_rate_checksum CHECKSUM("max_rate")
82 #define acceleration_checksum CHECKSUM("acceleration")
83 #define z_acceleration_checksum CHECKSUM("z_acceleration")
85 #define alpha_checksum CHECKSUM("alpha")
86 #define beta_checksum CHECKSUM("beta")
87 #define gamma_checksum CHECKSUM("gamma")
89 #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
91 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
92 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
94 // 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
95 // It takes care of cutting arcs into segments, same thing for line that are too long
99 this->inch_mode
= false;
100 this->absolute_mode
= true;
101 this->e_absolute_mode
= true;
102 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
103 memset(this->machine_position
, 0, sizeof machine_position
);
104 memset(this->compensated_machine_position
, 0, sizeof compensated_machine_position
);
105 this->arm_solution
= NULL
;
106 seconds_per_minute
= 60.0F
;
107 this->clearToolOffset();
108 this->compensationTransform
= nullptr;
109 this->get_e_scale_fnc
= nullptr;
110 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
111 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
112 this->next_command_is_MCS
= false;
113 this->disable_segmentation
= false;
114 this->disable_arm_solution
= false;
118 //Called when the module has just been loaded
119 void Robot::on_module_loaded()
121 this->register_for_event(ON_GCODE_RECEIVED
);
127 #define ACTUATOR_CHECKSUMS(X) { \
128 CHECKSUM(X "_step_pin"), \
129 CHECKSUM(X "_dir_pin"), \
130 CHECKSUM(X "_en_pin"), \
131 CHECKSUM(X "_steps_per_mm"), \
132 CHECKSUM(X "_max_rate"), \
133 CHECKSUM(X "_acceleration") \
136 void Robot::load_config()
138 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
139 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
140 // To make adding those solution easier, they have their own, separate object.
141 // Here we read the config to find out which arm solution to use
142 if (this->arm_solution
) delete this->arm_solution
;
143 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
144 // Note checksums are not const expressions when in debug mode, so don't use switch
145 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
146 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
148 } else if(solution_checksum
== corexz_checksum
) {
149 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
151 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
152 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
154 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
155 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
157 } else if(solution_checksum
== rotary_delta_checksum
) {
158 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
160 } else if(solution_checksum
== morgan_checksum
) {
161 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
163 } else if(solution_checksum
== cartesian_checksum
) {
164 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
167 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
170 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
171 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
172 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
173 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
174 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
175 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
176 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
178 // in mm/sec but specified in config as mm/min
179 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
180 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
181 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
183 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
184 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
185 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
187 // optional setting for a fixed G92 offset
188 std::vector
<float> t
= parse_number_list(g92
.c_str());
190 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
194 // default s value for laser
195 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
197 // Make our Primary XYZ StepperMotors
198 uint16_t const checksums
[][6] = {
199 ACTUATOR_CHECKSUMS("alpha"), // X
200 ACTUATOR_CHECKSUMS("beta"), // Y
201 ACTUATOR_CHECKSUMS("gamma"), // Z
204 // default acceleration setting, can be overriden with newer per axis settings
205 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
208 for (size_t a
= X_AXIS
; a
<= Z_AXIS
; a
++) {
209 Pin pins
[3]; //step, dir, enable
210 for (size_t i
= 0; i
< 3; i
++) {
211 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
213 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
214 // register this motor (NB This must be 0,1,2) of the actuators array
215 uint8_t n
= register_motor(sm
);
217 // this is a fatal error
218 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
222 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
223 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(checksums
[a
][4])->by_default(30000.0F
)->as_number()/60.0F
); // it is in mm/min and converted to mm/sec
224 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
227 check_max_actuator_speeds(); // check the configs are sane
229 // if we have not specified a z acceleration see if the legacy config was set
230 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
231 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
233 actuators
[Z_AXIS
]->set_acceleration(acc
);
237 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
238 // so the first move can be correct if homing is not performed
239 ActuatorCoordinates actuator_pos
;
240 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
241 for (size_t i
= 0; i
< n_motors
; i
++)
242 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
244 //this->clearToolOffset();
247 uint8_t Robot::register_motor(StepperMotor
*motor
)
249 // register this motor with the step ticker
250 THEKERNEL
->step_ticker
->register_motor(motor
);
251 if(n_motors
>= k_max_actuators
) {
252 // this is a fatal error
253 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
256 actuators
.push_back(motor
);
260 void Robot::push_state()
262 bool am
= this->absolute_mode
;
263 bool em
= this->e_absolute_mode
;
264 bool im
= this->inch_mode
;
265 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
269 void Robot::pop_state()
271 if(!state_stack
.empty()) {
272 auto s
= state_stack
.top();
274 this->feed_rate
= std::get
<0>(s
);
275 this->seek_rate
= std::get
<1>(s
);
276 this->absolute_mode
= std::get
<2>(s
);
277 this->e_absolute_mode
= std::get
<3>(s
);
278 this->inch_mode
= std::get
<4>(s
);
279 this->current_wcs
= std::get
<5>(s
);
283 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
285 std::vector
<wcs_t
> v
;
286 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
287 for(auto& i
: wcs_offsets
) {
290 v
.push_back(g92_offset
);
291 v
.push_back(tool_offset
);
295 void Robot::get_current_machine_position(float *pos
) const
297 // get real time current actuator position in mm
298 ActuatorCoordinates current_position
{
299 actuators
[X_AXIS
]->get_current_position(),
300 actuators
[Y_AXIS
]->get_current_position(),
301 actuators
[Z_AXIS
]->get_current_position()
304 // get machine position from the actuator position using FK
305 arm_solution
->actuator_to_cartesian(current_position
, pos
);
308 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
310 // M114.1 is a new way to do this (similar to how GRBL does it).
311 // it returns the realtime position based on the current step position of the actuators.
312 // this does require a FK to get a machine position from the actuator position
313 // and then invert all the transforms to get a workspace position from machine position
314 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
316 if(subcode
== 0) { // M114 print WCS
317 wcs_t pos
= mcs2wcs(machine_position
);
318 n
= snprintf(buf
, bufsize
, "C: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get
<X_AXIS
>(pos
)), from_millimeters(std::get
<Y_AXIS
>(pos
)), from_millimeters(std::get
<Z_AXIS
>(pos
)));
320 } else if(subcode
== 4) {
321 // M114.4 print last milestone
322 n
= snprintf(buf
, bufsize
, "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position
[X_AXIS
], machine_position
[Y_AXIS
], machine_position
[Z_AXIS
]);
324 } else if(subcode
== 5) {
325 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
326 // will differ from LMS by the compensation at the current position otherwise
327 n
= snprintf(buf
, bufsize
, "CMP: X:%1.4f Y:%1.4f Z:%1.4f", compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
330 // get real time positions
332 get_current_machine_position(mpos
);
334 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
335 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
337 if(subcode
== 1) { // M114.1 print realtime WCS
338 wcs_t pos
= mcs2wcs(mpos
);
339 n
= snprintf(buf
, bufsize
, "WCS: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get
<X_AXIS
>(pos
)), from_millimeters(std::get
<Y_AXIS
>(pos
)), from_millimeters(std::get
<Z_AXIS
>(pos
)));
341 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
342 n
= snprintf(buf
, bufsize
, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
344 } else if(subcode
== 3) { // M114.3 print realtime actuator position
345 // get real time current actuator position in mm
346 ActuatorCoordinates current_position
{
347 actuators
[X_AXIS
]->get_current_position(),
348 actuators
[Y_AXIS
]->get_current_position(),
349 actuators
[Z_AXIS
]->get_current_position()
351 n
= snprintf(buf
, bufsize
, "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position
[X_AXIS
], current_position
[Y_AXIS
], current_position
[Z_AXIS
]);
357 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
358 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
360 return std::make_tuple(
361 std::get
<X_AXIS
>(pos
) - std::get
<X_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<X_AXIS
>(g92_offset
) - std::get
<X_AXIS
>(tool_offset
),
362 std::get
<Y_AXIS
>(pos
) - std::get
<Y_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<Y_AXIS
>(g92_offset
) - std::get
<Y_AXIS
>(tool_offset
),
363 std::get
<Z_AXIS
>(pos
) - std::get
<Z_AXIS
>(wcs_offsets
[current_wcs
]) + std::get
<Z_AXIS
>(g92_offset
) - std::get
<Z_AXIS
>(tool_offset
)
367 // this does a sanity check that actuator speeds do not exceed steps rate capability
368 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
369 void Robot::check_max_actuator_speeds()
371 for (size_t i
= 0; i
< n_motors
; i
++) {
372 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
373 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
374 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
375 THEKERNEL
->streams
->printf("WARNING: actuator %d rate exceeds base_stepping_frequency * ..._steps_per_mm: %f, setting to %f\n", i
, step_freq
, actuators
[i
]->get_max_rate());
380 //A GCode has been received
381 //See if the current Gcode line has some orders for us
382 void Robot::on_gcode_received(void *argument
)
384 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
386 enum MOTION_MODE_T motion_mode
= NONE
;
390 case 0: motion_mode
= SEEK
; break;
391 case 1: motion_mode
= LINEAR
; break;
392 case 2: motion_mode
= CW_ARC
; break;
393 case 3: motion_mode
= CCW_ARC
; break;
394 case 4: { // G4 pause
395 uint32_t delay_ms
= 0;
396 if (gcode
->has_letter('P')) {
397 delay_ms
= gcode
->get_int('P');
399 if (gcode
->has_letter('S')) {
400 delay_ms
+= gcode
->get_int('S') * 1000;
404 THEKERNEL
->conveyor
->wait_for_idle();
405 // wait for specified time
406 uint32_t start
= us_ticker_read(); // mbed call
407 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
408 THEKERNEL
->call_event(ON_IDLE
, this);
409 if(THEKERNEL
->is_halted()) return;
415 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
416 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
417 size_t n
= gcode
->get_uint('P');
418 if(n
== 0) n
= current_wcs
; // set current coordinate system
422 std::tie(x
, y
, z
) = wcs_offsets
[n
];
423 if(gcode
->get_int('L') == 20) {
424 // this makes the current machine position (less compensation transform) the offset
425 // get current position in WCS
426 wcs_t pos
= mcs2wcs(machine_position
);
428 if(gcode
->has_letter('X')){
429 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
432 if(gcode
->has_letter('Y')){
433 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
435 if(gcode
->has_letter('Z')) {
436 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
440 // the value is the offset from machine zero
441 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
442 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
443 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
445 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
450 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
451 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
452 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
453 case 20: this->inch_mode
= true; break;
454 case 21: this->inch_mode
= false; break;
456 case 54: case 55: case 56: case 57: case 58: case 59:
457 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
458 current_wcs
= gcode
->g
- 54;
459 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
460 current_wcs
+= gcode
->subcode
;
461 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
465 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
466 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
469 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
470 // reset G92 offsets to 0
471 g92_offset
= wcs_t(0, 0, 0);
473 } else if(gcode
->subcode
== 3) {
474 // initialize G92 to the specified values, only used for saving it with M500
475 float x
= 0, y
= 0, z
= 0;
476 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
477 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
478 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
479 g92_offset
= wcs_t(x
, y
, z
);
482 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
484 std::tie(x
, y
, z
) = g92_offset
;
485 // get current position in WCS
486 wcs_t pos
= mcs2wcs(machine_position
);
488 // adjust g92 offset to make the current wpos == the value requested
489 if(gcode
->has_letter('X')){
490 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
492 if(gcode
->has_letter('Y')){
493 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
495 if(gcode
->has_letter('Z')) {
496 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
498 g92_offset
= wcs_t(x
, y
, z
);
501 #if MAX_ROBOT_ACTUATORS > 3
502 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
503 // reset the E position, legacy for 3d Printers to be reprap compatible
504 // find the selected extruder
505 // NOTE this will only work when E is 0 if volumetric and/or scaling is used as the actuator last milestone will be different if it was scaled
506 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
507 if(actuators
[i
]->is_selected()) {
508 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
509 machine_position
[i
]= compensated_machine_position
[i
]= e
;
510 actuators
[i
]->change_last_milestone(e
);
521 } else if( gcode
->has_m
) {
523 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
524 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
527 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
528 if(!THEKERNEL
->is_grbl_mode()) break;
529 // fall through to M2
530 case 2: // M2 end of program
532 absolute_mode
= true;
535 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
538 case 18: // this used to support parameters, now it ignores them
540 THEKERNEL
->conveyor
->wait_for_idle();
541 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
544 case 82: e_absolute_mode
= true; break;
545 case 83: e_absolute_mode
= false; break;
547 case 92: // M92 - set steps per mm
548 if (gcode
->has_letter('X'))
549 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
550 if (gcode
->has_letter('Y'))
551 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
552 if (gcode
->has_letter('Z'))
553 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
555 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
556 gcode
->add_nl
= true;
557 check_max_actuator_speeds();
562 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
563 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
567 case 120: // push state
571 case 121: // pop state
575 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
576 if(gcode
->get_num_args() == 0) {
577 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
578 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
580 gcode
->add_nl
= true;
583 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
584 if (gcode
->has_letter('X' + i
)) {
585 float v
= gcode
->get_value('X'+i
);
586 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
587 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
591 // this format is deprecated
592 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
593 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
594 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
595 if (gcode
->has_letter('A' + i
)) {
596 float v
= gcode
->get_value('A'+i
);
597 actuators
[i
]->set_max_rate(v
);
602 if(gcode
->subcode
== 1) check_max_actuator_speeds();
606 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
607 if (gcode
->has_letter('S')) {
608 float acc
= gcode
->get_value('S'); // mm/s^2
610 if (acc
< 1.0F
) acc
= 1.0F
;
611 this->default_acceleration
= acc
;
613 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
614 if (gcode
->has_letter(i
+'X')) {
615 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
617 if (acc
<= 0.0F
) acc
= NAN
;
618 actuators
[i
]->set_acceleration(acc
);
623 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
624 if (gcode
->has_letter('X')) {
625 float jd
= gcode
->get_value('X');
629 THEKERNEL
->planner
->junction_deviation
= jd
;
631 if (gcode
->has_letter('Z')) {
632 float jd
= gcode
->get_value('Z');
633 // enforce minimum, -1 disables it and uses regular junction deviation
636 THEKERNEL
->planner
->z_junction_deviation
= jd
;
638 if (gcode
->has_letter('S')) {
639 float mps
= gcode
->get_value('S');
643 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
647 case 220: // M220 - speed override percentage
648 if (gcode
->has_letter('S')) {
649 float factor
= gcode
->get_value('S');
650 // enforce minimum 10% speed
653 // enforce maximum 10x speed
654 if (factor
> 1000.0F
)
657 seconds_per_minute
= 6000.0F
/ factor
;
659 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
663 case 400: // wait until all moves are done up to this point
664 THEKERNEL
->conveyor
->wait_for_idle();
667 case 500: // M500 saves some volatile settings to config override file
668 case 503: { // M503 just prints the settings
669 gcode
->stream
->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
671 // only print XYZ if not NAN
672 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
673 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
674 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
676 gcode
->stream
->printf("\n");
678 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
, isnan(THEKERNEL
->planner
->z_junction_deviation
)?-1:THEKERNEL
->planner
->z_junction_deviation
, THEKERNEL
->planner
->minimum_planner_speed
);
680 gcode
->stream
->printf(";Max cartesian feedrates in mm/sec:\nM203 X%1.5f Y%1.5f Z%1.5f\n", this->max_speeds
[X_AXIS
], this->max_speeds
[Y_AXIS
], this->max_speeds
[Z_AXIS
]);
681 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 X%1.5f Y%1.5f Z%1.5f\n", actuators
[X_AXIS
]->get_max_rate(), actuators
[Y_AXIS
]->get_max_rate(), actuators
[Z_AXIS
]->get_max_rate());
683 // get or save any arm solution specific optional values
684 BaseSolution::arm_options_t options
;
685 if(arm_solution
->get_optional(options
) && !options
.empty()) {
686 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
687 for(auto &i
: options
) {
688 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
690 gcode
->stream
->printf("\n");
693 // save wcs_offsets and current_wcs
694 // TODO this may need to be done whenever they change to be compliant
695 gcode
->stream
->printf(";WCS settings\n");
696 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
698 for(auto &i
: wcs_offsets
) {
699 if(i
!= wcs_t(0, 0, 0)) {
701 std::tie(x
, y
, z
) = i
;
702 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
707 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
708 // also it needs to be used to set Z0 on rotary deltas as M206/306 can't be used, so saving it is necessary in that case
709 if(g92_offset
!= wcs_t(0, 0, 0)) {
711 std::tie(x
, y
, z
) = g92_offset
;
712 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
718 case 665: { // M665 set optional arm solution variables based on arm solution.
719 // the parameter args could be any letter each arm solution only accepts certain ones
720 BaseSolution::arm_options_t options
= gcode
->get_args();
721 options
.erase('S'); // don't include the S
722 options
.erase('U'); // don't include the U
723 if(options
.size() > 0) {
724 // set the specified options
725 arm_solution
->set_optional(options
);
728 if(arm_solution
->get_optional(options
)) {
729 // foreach optional value
730 for(auto &i
: options
) {
731 // print all current values of supported options
732 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
733 gcode
->add_nl
= true;
737 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
738 this->delta_segments_per_second
= gcode
->get_value('S');
739 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
741 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
742 this->mm_per_line_segment
= gcode
->get_value('U');
743 this->delta_segments_per_second
= 0;
744 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
752 if( motion_mode
!= NONE
) {
753 is_g123
= motion_mode
!= SEEK
;
754 process_move(gcode
, motion_mode
);
760 next_command_is_MCS
= false; // must be on same line as G0 or G1
763 // process a G0/G1/G2/G3
764 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
766 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
767 // get XYZ and one E (which goes to the selected extruder)
768 float param
[4]{NAN
, NAN
, NAN
, NAN
};
770 // process primary axis
771 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
773 if( gcode
->has_letter(letter
) ) {
774 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
778 float offset
[3]{0,0,0};
779 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
780 if( gcode
->has_letter(letter
) ) {
781 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
785 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
786 float target
[n_motors
];
787 memcpy(target
, machine_position
, n_motors
*sizeof(float));
789 if(!next_command_is_MCS
) {
790 if(this->absolute_mode
) {
791 // apply wcs offsets and g92 offset and tool offset
792 if(!isnan(param
[X_AXIS
])) {
793 target
[X_AXIS
]= param
[X_AXIS
] + std::get
<X_AXIS
>(wcs_offsets
[current_wcs
]) - std::get
<X_AXIS
>(g92_offset
) + std::get
<X_AXIS
>(tool_offset
);
796 if(!isnan(param
[Y_AXIS
])) {
797 target
[Y_AXIS
]= param
[Y_AXIS
] + std::get
<Y_AXIS
>(wcs_offsets
[current_wcs
]) - std::get
<Y_AXIS
>(g92_offset
) + std::get
<Y_AXIS
>(tool_offset
);
800 if(!isnan(param
[Z_AXIS
])) {
801 target
[Z_AXIS
]= param
[Z_AXIS
] + std::get
<Z_AXIS
>(wcs_offsets
[current_wcs
]) - std::get
<Z_AXIS
>(g92_offset
) + std::get
<Z_AXIS
>(tool_offset
);
805 // they are deltas from the machine_position if specified
806 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
807 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
812 // already in machine coordinates, we do not add tool offset for that
813 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
814 if(!isnan(param
[i
])) target
[i
] = param
[i
];
818 // process extruder parameters, for active extruder only (only one active extruder at a time)
819 selected_extruder
= 0;
820 if(gcode
->has_letter('E')) {
821 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
822 // find first selected extruder
823 if(actuators
[i
]->is_selected()) {
824 param
[E_AXIS
]= gcode
->get_value('E');
825 selected_extruder
= i
;
831 // do E for the selected extruder
833 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
834 if(this->e_absolute_mode
) {
835 target
[selected_extruder
]= param
[E_AXIS
];
836 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
838 delta_e
= param
[E_AXIS
];
839 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
843 if( gcode
->has_letter('F') ) {
844 if( motion_mode
== SEEK
)
845 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
847 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
850 // S is modal When specified on a G0/1/2/3 command
851 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
855 // Perform any physical actions
856 switch(motion_mode
) {
860 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
864 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
869 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
870 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
875 // set machine_position to the calculated target
876 memcpy(machine_position
, target
, n_motors
*sizeof(float));
880 // reset the machine position for all axis. Used for homing.
881 // after homing we supply the cartesian coordinates that the head is at when homed,
882 // however for Z this is the compensated machine position (if enabled)
883 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
884 // this will make the results from M114 and ? consistent after homing.
885 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
886 void Robot::reset_axis_position(float x
, float y
, float z
)
888 // set both the same initially
889 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
890 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
891 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
893 if(compensationTransform
) {
894 // apply inverse transform to get machine_position
895 compensationTransform(machine_position
, true);
898 // now set the actuator positions based on the supplied compensated position
899 ActuatorCoordinates actuator_pos
;
900 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
901 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
902 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
905 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
906 void Robot::reset_axis_position(float position
, int axis
)
908 compensated_machine_position
[axis
] = position
;
910 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
911 #if MAX_ROBOT_ACTUATORS > 3
913 // extruders need to be set not calculated
914 compensated_machine_position
[axis
]= position
;
919 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
920 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
921 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
923 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
924 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
927 // now correct axis positions then recorrect actuator to account for rounding
928 reset_position_from_current_actuator_position();
931 // Use FK to find out where actuator is and reset to match
932 void Robot::reset_position_from_current_actuator_position()
934 ActuatorCoordinates actuator_pos
;
935 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
936 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
937 actuator_pos
[i
] = actuators
[i
]->get_current_position();
940 // discover machine position from where actuators actually are
941 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
942 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
944 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
945 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
947 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
948 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
949 // to get everything in perfect sync.
950 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
951 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
952 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
955 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
956 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
957 // all transforms and is what we actually convert to actuator positions
958 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
960 float deltas
[n_motors
];
961 float transformed_target
[n_motors
]; // adjust target for bed compensation
962 float unit_vec
[N_PRIMARY_AXIS
];
964 // unity transform by default
965 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
967 // check function pointer and call if set to transform the target to compensate for bed
968 if(compensationTransform
) {
969 // some compensation strategies can transform XYZ, some just change Z
970 compensationTransform(transformed_target
, false);
974 float sos
= 0; // sun of squares for just XYZ
976 // find distance moved by each axis, use transformed target from the current machine position
977 for (size_t i
= 0; i
< n_motors
; i
++) {
978 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
979 if(deltas
[i
] == 0) continue;
980 // at least one non zero delta
983 sos
+= powf(deltas
[i
], 2);
988 if(!move
) return false;
990 // see if this is a primary axis move or not
991 bool auxilliary_move
= deltas
[X_AXIS
] == 0 && deltas
[Y_AXIS
] == 0 && deltas
[Z_AXIS
] == 0;
993 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
994 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
996 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
997 // as the last milestone won't be updated we do not actually lose any moves as they will be accounted for in the next move
998 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1001 if(!auxilliary_move
) {
1002 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1003 // find distance unit vector for primary axis only
1004 unit_vec
[i
] = deltas
[i
] / distance
;
1006 // Do not move faster than the configured cartesian limits for XYZ
1007 if ( max_speeds
[i
] > 0 ) {
1008 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1010 if (axis_speed
> max_speeds
[i
])
1011 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1016 // find actuator position given the machine position, use actual adjusted target
1017 ActuatorCoordinates actuator_pos
;
1018 if(!disable_arm_solution
) {
1019 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1022 // basically the same as cartesian, would be used for special homing situations like for scara
1023 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1024 actuator_pos
[i
] = transformed_target
[i
];
1028 #if MAX_ROBOT_ACTUATORS > 3
1030 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1031 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1032 actuator_pos
[i
]= transformed_target
[i
];
1033 if(get_e_scale_fnc
) {
1034 // NOTE this relies on the fact only one extruder is active at a time
1035 // scale for volumetric or flow rate
1036 // TODO is this correct? scaling the absolute target? what if the scale changes?
1037 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1038 actuator_pos
[i
] *= get_e_scale_fnc();
1040 if(auxilliary_move
) {
1041 // for E only moves we need to use the scaled E to calculate the distance
1042 sos
+= pow(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1045 if(auxilliary_move
) {
1046 distance
= sqrtf(sos
); // distance in mm of the e move
1047 if(distance
< 0.00001F
) return false;
1051 // use default acceleration to start with
1052 float acceleration
= default_acceleration
;
1054 float isecs
= rate_mm_s
/ distance
;
1056 // check per-actuator speed limits
1057 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1058 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1059 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1061 float actuator_rate
= d
* isecs
;
1062 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1063 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1064 isecs
= rate_mm_s
/ distance
;
1067 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1068 // TODO we may need to do all of them, check E won't limit XYZ.. it does on long E moves, but not checking it could exceed the E acceleration.
1069 if(auxilliary_move
|| actuator
<= Z_AXIS
) {
1070 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1071 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1072 float ca
= fabsf((d
/distance
) * acceleration
);
1074 acceleration
*= ( ma
/ ca
);
1080 // Append the block to the planner
1081 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1082 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1083 // this is the machine position
1084 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1092 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1093 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1095 if(THEKERNEL
->is_halted()) return false;
1097 // catch negative or zero feed rates
1098 if(rate_mm_s
<= 0.0F
) {
1102 // get the absolute target position, default is current machine_position
1103 float target
[n_motors
];
1104 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1106 // add in the deltas to get new target
1107 for (int i
= 0; i
< naxis
; i
++) {
1108 target
[i
] += delta
[i
];
1111 // submit for planning and if moved update machine_position
1112 if(append_milestone(target
, rate_mm_s
)) {
1113 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1120 // Append a move to the queue ( cutting it into segments if needed )
1121 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1123 // catch negative or zero feed rates and return the same error as GRBL does
1124 if(rate_mm_s
<= 0.0F
) {
1125 gcode
->is_error
= true;
1126 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1130 // Find out the distance for this move in XYZ in MCS
1131 float millimeters_of_travel
= sqrtf(powf( target
[X_AXIS
] - machine_position
[X_AXIS
], 2 ) + powf( target
[Y_AXIS
] - machine_position
[Y_AXIS
], 2 ) + powf( target
[Z_AXIS
] - machine_position
[Z_AXIS
], 2 ));
1133 if(millimeters_of_travel
< 0.00001F
) {
1134 // we have no movement in XYZ, probably E only extrude or retract
1135 return this->append_milestone(target
, rate_mm_s
);
1139 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1140 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1141 We ask Extruder to do all the work but we need to pass in the relevant data.
1142 NOTE we need to do this before we segment the line (for deltas)
1144 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1145 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1146 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1147 rate_mm_s
*= data
[1]; // adjust the feedrate
1151 // We cut the line into smaller segments. This is only needed on a cartesian robot for zgrid, but always necessary for robots with rotational axes like Deltas.
1152 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1153 // 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
1156 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1159 } else if(this->delta_segments_per_second
> 1.0F
) {
1160 // enabled if set to something > 1, it is set to 0.0 by default
1161 // segment based on current speed and requested segments per second
1162 // the faster the travel speed the fewer segments needed
1163 // NOTE rate is mm/sec and we take into account any speed override
1164 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1165 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1166 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1169 if(this->mm_per_line_segment
== 0.0F
) {
1170 segments
= 1; // don't split it up
1172 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1178 // A vector to keep track of the endpoint of each segment
1179 float segment_delta
[n_motors
];
1180 float segment_end
[n_motors
];
1181 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1183 // How far do we move each segment?
1184 for (int i
= 0; i
< n_motors
; i
++)
1185 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1187 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1188 // We always add another point after this loop so we stop at segments-1, ie i < segments
1189 for (int i
= 1; i
< segments
; i
++) {
1190 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1191 for (int i
= 0; i
< n_motors
; i
++)
1192 segment_end
[i
] += segment_delta
[i
];
1194 // Append the end of this segment to the queue
1195 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1200 // Append the end of this full move to the queue
1201 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1203 this->next_command_is_MCS
= false; // always reset this
1209 // Append an arc to the queue ( cutting it into segments as needed )
1210 // TODO does not support any E parameters so cannot be used for 3D printing.
1211 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1213 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1214 // catch negative or zero feed rates and return the same error as GRBL does
1215 if(rate_mm_s
<= 0.0F
) {
1216 gcode
->is_error
= true;
1217 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1222 float center_axis0
= this->machine_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1223 float center_axis1
= this->machine_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1224 float linear_travel
= target
[this->plane_axis_2
] - this->machine_position
[this->plane_axis_2
];
1225 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1226 float r_axis1
= -offset
[this->plane_axis_1
];
1227 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1228 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1230 // Patch from GRBL Firmware - Christoph Baumann 04072015
1231 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1232 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1233 if (is_clockwise
) { // Correct atan2 output per direction
1234 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1236 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1239 // Find the distance for this gcode
1240 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1242 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1243 if( millimeters_of_travel
< 0.00001F
) {
1247 // limit segments by maximum arc error
1248 float arc_segment
= this->mm_per_arc_segment
;
1249 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1250 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1251 if (this->mm_per_arc_segment
< min_err_segment
) {
1252 arc_segment
= min_err_segment
;
1255 // Figure out how many segments for this gcode
1256 // TODO for deltas we need to make sure we are at least as many segments as requested, also if mm_per_line_segment is set we need to use the
1257 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1259 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1260 float theta_per_segment
= angular_travel
/ segments
;
1261 float linear_per_segment
= linear_travel
/ segments
;
1263 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1264 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1265 r_T = [cos(phi) -sin(phi);
1266 sin(phi) cos(phi] * r ;
1267 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1268 defined from the circle center to the initial position. Each line segment is formed by successive
1269 vector rotations. This requires only two cos() and sin() computations to form the rotation
1270 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1271 all float numbers are single precision on the Arduino. (True float precision will not have
1272 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1273 tool precision in some cases. Therefore, arc path correction is implemented.
1275 Small angle approximation may be used to reduce computation overhead further. This approximation
1276 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1277 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1278 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1279 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1280 issue for CNC machines with the single precision Arduino calculations.
1281 This approximation also allows mc_arc to immediately insert a line segment into the planner
1282 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1283 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1284 This is important when there are successive arc motions.
1286 // Vector rotation matrix values
1287 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1288 float sin_T
= theta_per_segment
;
1290 float arc_target
[3];
1297 // Initialize the linear axis
1298 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1301 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1302 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1304 if (count
< this->arc_correction
) {
1305 // Apply vector rotation matrix
1306 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1307 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1311 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1312 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1313 cos_Ti
= cosf(i
* theta_per_segment
);
1314 sin_Ti
= sinf(i
* theta_per_segment
);
1315 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1316 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1320 // Update arc_target location
1321 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1322 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1323 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1325 // Append this segment to the queue
1326 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1330 // Ensure last segment arrives at target location.
1331 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1336 // Do the math for an arc and add it to the queue
1337 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1341 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1343 // Set clockwise/counter-clockwise sign for mc_arc computations
1344 bool is_clockwise
= false;
1345 if( motion_mode
== CW_ARC
) {
1346 is_clockwise
= true;
1350 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1354 float Robot::theta(float x
, float y
)
1356 float t
= atanf(x
/ fabs(y
));
1368 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1370 this->plane_axis_0
= axis_0
;
1371 this->plane_axis_1
= axis_1
;
1372 this->plane_axis_2
= axis_2
;
1375 void Robot::clearToolOffset()
1377 this->tool_offset
= wcs_t(0,0,0);
1380 void Robot::setToolOffset(const float offset
[3])
1382 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1385 float Robot::get_feed_rate() const
1387 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;