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->last_milestone
, 0, sizeof last_milestone
);
104 memset(this->last_machine_position
, 0, sizeof last_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(last_milestone
, 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
);
257 motor
->set_motor_id(n_motors
);
261 void Robot::push_state()
263 bool am
= this->absolute_mode
;
264 bool em
= this->e_absolute_mode
;
265 bool im
= this->inch_mode
;
266 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
270 void Robot::pop_state()
272 if(!state_stack
.empty()) {
273 auto s
= state_stack
.top();
275 this->feed_rate
= std::get
<0>(s
);
276 this->seek_rate
= std::get
<1>(s
);
277 this->absolute_mode
= std::get
<2>(s
);
278 this->e_absolute_mode
= std::get
<3>(s
);
279 this->inch_mode
= std::get
<4>(s
);
280 this->current_wcs
= std::get
<5>(s
);
284 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
286 std::vector
<wcs_t
> v
;
287 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
288 for(auto& i
: wcs_offsets
) {
291 v
.push_back(g92_offset
);
292 v
.push_back(tool_offset
);
296 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
298 // M114.1 is a new way to do this (similar to how GRBL does it).
299 // it returns the realtime position based on the current step position of the actuators.
300 // this does require a FK to get a machine position from the actuator position
301 // and then invert all the transforms to get a workspace position from machine position
302 // M114 just does it the old way uses last_milestone and does inversse transforms to get the requested position
304 if(subcode
== 0) { // M114 print WCS
305 wcs_t pos
= mcs2wcs(last_milestone
);
306 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
)));
308 } else if(subcode
== 4) { // M114.4 print last milestone (which should be the same as machine position if axis are not moving and no level compensation)
309 n
= snprintf(buf
, bufsize
, "LMS: X:%1.4f Y:%1.4f Z:%1.4f", last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
311 } else if(subcode
== 5) { // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
312 n
= snprintf(buf
, bufsize
, "LMP: X:%1.4f Y:%1.4f Z:%1.4f", last_machine_position
[X_AXIS
], last_machine_position
[Y_AXIS
], last_machine_position
[Z_AXIS
]);
315 // get real time positions
316 // current actuator position in mm
317 ActuatorCoordinates current_position
{
318 actuators
[X_AXIS
]->get_current_position(),
319 actuators
[Y_AXIS
]->get_current_position(),
320 actuators
[Z_AXIS
]->get_current_position()
323 // get machine position from the actuator position using FK
325 arm_solution
->actuator_to_cartesian(current_position
, mpos
);
327 if(subcode
== 1) { // M114.1 print realtime WCS
328 // FIXME this currently includes the compensation transform which is incorrect so will be slightly off if it is in effect (but by very little)
329 wcs_t pos
= mcs2wcs(mpos
);
330 n
= snprintf(buf
, bufsize
, "WPOS: 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
)));
332 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
333 n
= snprintf(buf
, bufsize
, "MPOS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
335 } else if(subcode
== 3) { // M114.3 print realtime actuator position
336 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
]);
342 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
343 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
345 return std::make_tuple(
346 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
),
347 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
),
348 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
)
352 // this does a sanity check that actuator speeds do not exceed steps rate capability
353 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
354 void Robot::check_max_actuator_speeds()
356 for (size_t i
= 0; i
< n_motors
; i
++) {
357 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
358 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
359 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
360 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());
365 //A GCode has been received
366 //See if the current Gcode line has some orders for us
367 void Robot::on_gcode_received(void *argument
)
369 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
371 enum MOTION_MODE_T motion_mode
= NONE
;
375 case 0: motion_mode
= SEEK
; break;
376 case 1: motion_mode
= LINEAR
; break;
377 case 2: motion_mode
= CW_ARC
; break;
378 case 3: motion_mode
= CCW_ARC
; break;
379 case 4: { // G4 pause
380 uint32_t delay_ms
= 0;
381 if (gcode
->has_letter('P')) {
382 delay_ms
= gcode
->get_int('P');
384 if (gcode
->has_letter('S')) {
385 delay_ms
+= gcode
->get_int('S') * 1000;
389 THEKERNEL
->conveyor
->wait_for_idle();
390 // wait for specified time
391 uint32_t start
= us_ticker_read(); // mbed call
392 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
393 THEKERNEL
->call_event(ON_IDLE
, this);
394 if(THEKERNEL
->is_halted()) return;
400 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
401 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
402 size_t n
= gcode
->get_uint('P');
403 if(n
== 0) n
= current_wcs
; // set current coordinate system
407 std::tie(x
, y
, z
) = wcs_offsets
[n
];
408 if(gcode
->get_int('L') == 20) {
409 // this makes the current machine position (less compensation transform) the offset
410 // get current position in WCS
411 wcs_t pos
= mcs2wcs(last_milestone
);
413 if(gcode
->has_letter('X')){
414 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
417 if(gcode
->has_letter('Y')){
418 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
420 if(gcode
->has_letter('Z')) {
421 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
425 // the value is the offset from machine zero
426 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
427 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
428 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
430 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
435 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
436 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
437 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
438 case 20: this->inch_mode
= true; break;
439 case 21: this->inch_mode
= false; break;
441 case 54: case 55: case 56: case 57: case 58: case 59:
442 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
443 current_wcs
= gcode
->g
- 54;
444 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
445 current_wcs
+= gcode
->subcode
;
446 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
450 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
451 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
454 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
455 // reset G92 offsets to 0
456 g92_offset
= wcs_t(0, 0, 0);
458 } else if(gcode
->subcode
== 3) {
459 // initialize G92 to the specified values, only used for saving it with M500
460 float x
= 0, y
= 0, z
= 0;
461 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
462 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
463 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
464 g92_offset
= wcs_t(x
, y
, z
);
467 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
469 std::tie(x
, y
, z
) = g92_offset
;
470 // get current position in WCS
471 wcs_t pos
= mcs2wcs(last_milestone
);
473 // adjust g92 offset to make the current wpos == the value requested
474 if(gcode
->has_letter('X')){
475 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
477 if(gcode
->has_letter('Y')){
478 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
480 if(gcode
->has_letter('Z')) {
481 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
483 g92_offset
= wcs_t(x
, y
, z
);
486 #if MAX_ROBOT_ACTUATORS > 3
487 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
488 // reset the E position, legacy for 3d Printers to be reprap compatible
489 // find the selected extruder
490 // 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
491 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
492 if(actuators
[i
]->is_selected()) {
493 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
494 last_milestone
[i
]= last_machine_position
[i
]= e
;
495 actuators
[i
]->change_last_milestone(e
);
506 } else if( gcode
->has_m
) {
508 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
509 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
512 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
513 if(!THEKERNEL
->is_grbl_mode()) break;
514 // fall through to M2
515 case 2: // M2 end of program
517 absolute_mode
= true;
520 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
523 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
524 if(gcode
->get_num_args() > 0) {
525 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
527 for (int i
= 0; i
< n_motors
; ++i
) {
528 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
529 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
531 // handle E parameter as currently selected extruder ABC
532 if(gcode
->has_letter('E')) {
533 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
534 // find first selected extruder
535 if(actuators
[i
]->is_selected()) {
536 bm
|= (0x02<<i
); // set appropriate bit
542 THEKERNEL
->conveyor
->wait_for_idle();
543 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
548 THEKERNEL
->conveyor
->wait_for_idle();
549 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
552 case 82: e_absolute_mode
= true; break;
553 case 83: e_absolute_mode
= false; break;
555 case 92: // M92 - set steps per mm
556 if (gcode
->has_letter('X'))
557 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
558 if (gcode
->has_letter('Y'))
559 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
560 if (gcode
->has_letter('Z'))
561 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
563 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());
564 gcode
->add_nl
= true;
565 check_max_actuator_speeds();
570 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
571 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
575 case 120: // push state
579 case 121: // pop state
583 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
584 if(gcode
->get_num_args() == 0) {
585 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
586 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
588 gcode
->add_nl
= true;
591 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
592 if (gcode
->has_letter('X' + i
)) {
593 float v
= gcode
->get_value('X'+i
);
594 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
595 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
599 // this format is deprecated
600 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
601 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
602 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
603 if (gcode
->has_letter('A' + i
)) {
604 float v
= gcode
->get_value('A'+i
);
605 actuators
[i
]->set_max_rate(v
);
610 if(gcode
->subcode
== 1) check_max_actuator_speeds();
614 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
615 if (gcode
->has_letter('S')) {
616 float acc
= gcode
->get_value('S'); // mm/s^2
618 if (acc
< 1.0F
) acc
= 1.0F
;
619 this->default_acceleration
= acc
;
621 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
622 if (gcode
->has_letter(i
+'X')) {
623 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
625 if (acc
<= 0.0F
) acc
= NAN
;
626 actuators
[i
]->set_acceleration(acc
);
631 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
632 if (gcode
->has_letter('X')) {
633 float jd
= gcode
->get_value('X');
637 THEKERNEL
->planner
->junction_deviation
= jd
;
639 if (gcode
->has_letter('Z')) {
640 float jd
= gcode
->get_value('Z');
641 // enforce minimum, -1 disables it and uses regular junction deviation
644 THEKERNEL
->planner
->z_junction_deviation
= jd
;
646 if (gcode
->has_letter('S')) {
647 float mps
= gcode
->get_value('S');
651 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
655 case 220: // M220 - speed override percentage
656 if (gcode
->has_letter('S')) {
657 float factor
= gcode
->get_value('S');
658 // enforce minimum 10% speed
661 // enforce maximum 10x speed
662 if (factor
> 1000.0F
)
665 seconds_per_minute
= 6000.0F
/ factor
;
667 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
671 case 400: // wait until all moves are done up to this point
672 THEKERNEL
->conveyor
->wait_for_idle();
675 case 500: // M500 saves some volatile settings to config override file
676 case 503: { // M503 just prints the settings
677 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());
679 // only print XYZ if not NAN
680 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
681 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
682 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
684 gcode
->stream
->printf("\n");
686 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
);
688 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
]);
689 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());
691 // get or save any arm solution specific optional values
692 BaseSolution::arm_options_t options
;
693 if(arm_solution
->get_optional(options
) && !options
.empty()) {
694 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
695 for(auto &i
: options
) {
696 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
698 gcode
->stream
->printf("\n");
701 // save wcs_offsets and current_wcs
702 // TODO this may need to be done whenever they change to be compliant
703 gcode
->stream
->printf(";WCS settings\n");
704 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
706 for(auto &i
: wcs_offsets
) {
707 if(i
!= wcs_t(0, 0, 0)) {
709 std::tie(x
, y
, z
) = i
;
710 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
715 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
716 // 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
717 if(g92_offset
!= wcs_t(0, 0, 0)) {
719 std::tie(x
, y
, z
) = g92_offset
;
720 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
726 case 665: { // M665 set optional arm solution variables based on arm solution.
727 // the parameter args could be any letter each arm solution only accepts certain ones
728 BaseSolution::arm_options_t options
= gcode
->get_args();
729 options
.erase('S'); // don't include the S
730 options
.erase('U'); // don't include the U
731 if(options
.size() > 0) {
732 // set the specified options
733 arm_solution
->set_optional(options
);
736 if(arm_solution
->get_optional(options
)) {
737 // foreach optional value
738 for(auto &i
: options
) {
739 // print all current values of supported options
740 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
741 gcode
->add_nl
= true;
745 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
746 this->delta_segments_per_second
= gcode
->get_value('S');
747 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
749 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
750 this->mm_per_line_segment
= gcode
->get_value('U');
751 this->delta_segments_per_second
= 0;
752 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
760 if( motion_mode
!= NONE
) {
761 is_g123
= motion_mode
!= SEEK
;
762 process_move(gcode
, motion_mode
);
768 next_command_is_MCS
= false; // must be on same line as G0 or G1
771 // process a G0/G1/G2/G3
772 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
774 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
775 // get XYZ and one E (which goes to the selected extruder)
776 float param
[4]{NAN
, NAN
, NAN
, NAN
};
778 // process primary axis
779 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
781 if( gcode
->has_letter(letter
) ) {
782 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
786 float offset
[3]{0,0,0};
787 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
788 if( gcode
->has_letter(letter
) ) {
789 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
793 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
794 float target
[n_motors
];
795 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
797 if(!next_command_is_MCS
) {
798 if(this->absolute_mode
) {
799 // apply wcs offsets and g92 offset and tool offset
800 if(!isnan(param
[X_AXIS
])) {
801 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
);
804 if(!isnan(param
[Y_AXIS
])) {
805 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
);
808 if(!isnan(param
[Z_AXIS
])) {
809 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
);
813 // they are deltas from the last_milestone if specified
814 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
815 if(!isnan(param
[i
])) target
[i
] = param
[i
] + last_milestone
[i
];
820 // already in machine coordinates, we do not add tool offset for that
821 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
822 if(!isnan(param
[i
])) target
[i
] = param
[i
];
826 // process extruder parameters, for active extruder only (only one active extruder at a time)
827 selected_extruder
= 0;
828 if(gcode
->has_letter('E')) {
829 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
830 // find first selected extruder
831 if(actuators
[i
]->is_selected()) {
832 param
[E_AXIS
]= gcode
->get_value('E');
833 selected_extruder
= i
;
839 // do E for the selected extruder
841 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
842 if(this->e_absolute_mode
) {
843 target
[selected_extruder
]= param
[E_AXIS
];
844 delta_e
= target
[selected_extruder
] - last_milestone
[selected_extruder
];
846 delta_e
= param
[E_AXIS
];
847 target
[selected_extruder
] = delta_e
+ last_milestone
[selected_extruder
];
851 if( gcode
->has_letter('F') ) {
852 if( motion_mode
== SEEK
)
853 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
855 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
858 // S is modal When specified on a G0/1/2/3 command
859 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
863 // Perform any physical actions
864 switch(motion_mode
) {
868 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
872 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
877 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
878 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
883 // set last_milestone to the calculated target
884 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
888 // reset the machine position for all axis. Used for homing.
889 // During homing compensation is turned off
890 // once homed and reset_axis called compensation is used for the move to origin and back off home if enabled,
891 // so in those cases the final position is compensated.
892 void Robot::reset_axis_position(float x
, float y
, float z
)
894 // these are set to the same as compensation was not used to get to the current position
895 last_machine_position
[X_AXIS
]= last_milestone
[X_AXIS
] = x
;
896 last_machine_position
[Y_AXIS
]= last_milestone
[Y_AXIS
] = y
;
897 last_machine_position
[Z_AXIS
]= last_milestone
[Z_AXIS
] = z
;
899 // now set the actuator positions to match
900 ActuatorCoordinates actuator_pos
;
901 arm_solution
->cartesian_to_actuator(this->last_machine_position
, actuator_pos
);
902 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
903 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
906 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
907 void Robot::reset_axis_position(float position
, int axis
)
909 last_milestone
[axis
] = position
;
911 reset_axis_position(last_milestone
[X_AXIS
], last_milestone
[Y_AXIS
], last_milestone
[Z_AXIS
]);
912 #if MAX_ROBOT_ACTUATORS > 3
914 // extruders need to be set not calculated
915 last_machine_position
[axis
]= position
;
920 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
921 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
922 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
924 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
925 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::last_milestone 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
, last_machine_position
);
942 // FIXME problem is this includes any compensation transform, and without an inverse compensation we cannot get a correct last_milestone
943 memcpy(last_milestone
, last_machine_position
, sizeof last_milestone
);
945 // now reset actuator::last_milestone, NOTE this may lose a little precision as FK is not always entirely accurate.
946 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
947 // to get everything in perfect sync.
948 arm_solution
->cartesian_to_actuator(last_machine_position
, actuator_pos
);
949 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
950 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
953 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
954 // target is in machine coordinates without the compensation transform, however we save a last_machine_position that includes
955 // all transforms and is what we actually convert to actuator positions
956 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
958 float deltas
[n_motors
];
959 float transformed_target
[n_motors
]; // adjust target for bed compensation
960 float unit_vec
[N_PRIMARY_AXIS
];
962 // unity transform by default
963 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
965 // check function pointer and call if set to transform the target to compensate for bed
966 if(compensationTransform
) {
967 // some compensation strategies can transform XYZ, some just change Z
968 compensationTransform(transformed_target
);
972 float sos
= 0; // sun of squares for just XYZ
974 // find distance moved by each axis, use transformed target from the current machine position
975 for (size_t i
= 0; i
< n_motors
; i
++) {
976 deltas
[i
] = transformed_target
[i
] - last_machine_position
[i
];
977 if(deltas
[i
] == 0) continue;
978 // at least one non zero delta
981 sos
+= powf(deltas
[i
], 2);
986 if(!move
) return false;
988 // see if this is a primary axis move or not
989 bool auxilliary_move
= deltas
[X_AXIS
] == 0 && deltas
[Y_AXIS
] == 0 && deltas
[Z_AXIS
] == 0;
991 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
992 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
994 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
995 // 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
996 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
999 if(!auxilliary_move
) {
1000 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1001 // find distance unit vector for primary axis only
1002 unit_vec
[i
] = deltas
[i
] / distance
;
1004 // Do not move faster than the configured cartesian limits for XYZ
1005 if ( max_speeds
[i
] > 0 ) {
1006 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1008 if (axis_speed
> max_speeds
[i
])
1009 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1014 // find actuator position given the machine position, use actual adjusted target
1015 ActuatorCoordinates actuator_pos
;
1016 if(!disable_arm_solution
) {
1017 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1020 // basically the same as cartesian, would be used for special homing situations like for scara
1021 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1022 actuator_pos
[i
] = transformed_target
[i
];
1026 #if MAX_ROBOT_ACTUATORS > 3
1028 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1029 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1030 actuator_pos
[i
]= transformed_target
[i
];
1031 if(get_e_scale_fnc
) {
1032 // NOTE this relies on the fact only one extruder is active at a time
1033 // scale for volumetric or flow rate
1034 // TODO is this correct? scaling the absolute target? what if the scale changes?
1035 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1036 actuator_pos
[i
] *= get_e_scale_fnc();
1038 if(auxilliary_move
) {
1039 // for E only moves we need to use the scaled E to calculate the distance
1040 sos
+= pow(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1043 if(auxilliary_move
) {
1044 distance
= sqrtf(sos
); // distance in mm of the e move
1045 if(distance
< 0.00001F
) return false;
1049 // use default acceleration to start with
1050 float acceleration
= default_acceleration
;
1052 float isecs
= rate_mm_s
/ distance
;
1054 // check per-actuator speed limits
1055 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1056 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1057 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1059 float actuator_rate
= d
* isecs
;
1060 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1061 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1062 isecs
= rate_mm_s
/ distance
;
1065 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1066 // 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.
1067 if(auxilliary_move
|| actuator
<= Z_AXIS
) {
1068 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1069 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1070 float ca
= fabsf((d
/distance
) * acceleration
);
1072 acceleration
*= ( ma
/ ca
);
1078 // Append the block to the planner
1079 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1080 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1081 // this is the machine position
1082 memcpy(this->last_machine_position
, transformed_target
, n_motors
*sizeof(float));
1090 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1091 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1093 if(THEKERNEL
->is_halted()) return false;
1095 // catch negative or zero feed rates
1096 if(rate_mm_s
<= 0.0F
) {
1100 // get the absolute target position, default is current last_milestone
1101 float target
[n_motors
];
1102 memcpy(target
, last_milestone
, n_motors
*sizeof(float));
1104 // add in the deltas to get new target
1105 for (int i
= 0; i
< naxis
; i
++) {
1106 target
[i
] += delta
[i
];
1109 // submit for planning and if moved update last_milestone
1110 if(append_milestone(target
, rate_mm_s
)) {
1111 memcpy(last_milestone
, target
, n_motors
*sizeof(float));
1118 // Append a move to the queue ( cutting it into segments if needed )
1119 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1121 // catch negative or zero feed rates and return the same error as GRBL does
1122 if(rate_mm_s
<= 0.0F
) {
1123 gcode
->is_error
= true;
1124 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1128 // Find out the distance for this move in XYZ in MCS
1129 float millimeters_of_travel
= sqrtf(powf( target
[X_AXIS
] - last_milestone
[X_AXIS
], 2 ) + powf( target
[Y_AXIS
] - last_milestone
[Y_AXIS
], 2 ) + powf( target
[Z_AXIS
] - last_milestone
[Z_AXIS
], 2 ));
1131 if(millimeters_of_travel
< 0.00001F
) {
1132 // we have no movement in XYZ, probably E only extrude or retract
1133 return this->append_milestone(target
, rate_mm_s
);
1137 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1138 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1139 We ask Extruder to do all the work but we need to pass in the relevant data.
1140 NOTE we need to do this before we segment the line (for deltas)
1142 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1143 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1144 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1145 rate_mm_s
*= data
[1]; // adjust the feedrate
1149 // 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.
1150 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1151 // 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
1154 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1157 } else if(this->delta_segments_per_second
> 1.0F
) {
1158 // enabled if set to something > 1, it is set to 0.0 by default
1159 // segment based on current speed and requested segments per second
1160 // the faster the travel speed the fewer segments needed
1161 // NOTE rate is mm/sec and we take into account any speed override
1162 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1163 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1164 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1167 if(this->mm_per_line_segment
== 0.0F
) {
1168 segments
= 1; // don't split it up
1170 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1176 // A vector to keep track of the endpoint of each segment
1177 float segment_delta
[n_motors
];
1178 float segment_end
[n_motors
];
1179 memcpy(segment_end
, last_milestone
, n_motors
*sizeof(float));
1181 // How far do we move each segment?
1182 for (int i
= 0; i
< n_motors
; i
++)
1183 segment_delta
[i
] = (target
[i
] - last_milestone
[i
]) / segments
;
1185 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1186 // We always add another point after this loop so we stop at segments-1, ie i < segments
1187 for (int i
= 1; i
< segments
; i
++) {
1188 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1189 for (int i
= 0; i
< n_motors
; i
++)
1190 segment_end
[i
] += segment_delta
[i
];
1192 // Append the end of this segment to the queue
1193 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1198 // Append the end of this full move to the queue
1199 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1201 this->next_command_is_MCS
= false; // always reset this
1207 // Append an arc to the queue ( cutting it into segments as needed )
1208 // TODO does not support any E parameters so cannot be used for 3D printing.
1209 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1211 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1212 // catch negative or zero feed rates and return the same error as GRBL does
1213 if(rate_mm_s
<= 0.0F
) {
1214 gcode
->is_error
= true;
1215 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1220 float center_axis0
= this->last_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1221 float center_axis1
= this->last_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1222 float linear_travel
= target
[this->plane_axis_2
] - this->last_milestone
[this->plane_axis_2
];
1223 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1224 float r_axis1
= -offset
[this->plane_axis_1
];
1225 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1226 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1228 // Patch from GRBL Firmware - Christoph Baumann 04072015
1229 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1230 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1231 if (is_clockwise
) { // Correct atan2 output per direction
1232 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1234 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1237 // Find the distance for this gcode
1238 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1240 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1241 if( millimeters_of_travel
< 0.00001F
) {
1245 // limit segments by maximum arc error
1246 float arc_segment
= this->mm_per_arc_segment
;
1247 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1248 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1249 if (this->mm_per_arc_segment
< min_err_segment
) {
1250 arc_segment
= min_err_segment
;
1253 // Figure out how many segments for this gcode
1254 // 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
1255 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1257 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1258 float theta_per_segment
= angular_travel
/ segments
;
1259 float linear_per_segment
= linear_travel
/ segments
;
1261 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1262 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1263 r_T = [cos(phi) -sin(phi);
1264 sin(phi) cos(phi] * r ;
1265 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1266 defined from the circle center to the initial position. Each line segment is formed by successive
1267 vector rotations. This requires only two cos() and sin() computations to form the rotation
1268 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1269 all float numbers are single precision on the Arduino. (True float precision will not have
1270 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1271 tool precision in some cases. Therefore, arc path correction is implemented.
1273 Small angle approximation may be used to reduce computation overhead further. This approximation
1274 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1275 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1276 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1277 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1278 issue for CNC machines with the single precision Arduino calculations.
1279 This approximation also allows mc_arc to immediately insert a line segment into the planner
1280 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1281 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1282 This is important when there are successive arc motions.
1284 // Vector rotation matrix values
1285 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1286 float sin_T
= theta_per_segment
;
1288 float arc_target
[3];
1295 // Initialize the linear axis
1296 arc_target
[this->plane_axis_2
] = this->last_milestone
[this->plane_axis_2
];
1299 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1300 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1302 if (count
< this->arc_correction
) {
1303 // Apply vector rotation matrix
1304 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1305 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1309 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1310 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1311 cos_Ti
= cosf(i
* theta_per_segment
);
1312 sin_Ti
= sinf(i
* theta_per_segment
);
1313 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1314 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1318 // Update arc_target location
1319 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1320 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1321 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1323 // Append this segment to the queue
1324 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1328 // Ensure last segment arrives at target location.
1329 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1334 // Do the math for an arc and add it to the queue
1335 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1339 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1341 // Set clockwise/counter-clockwise sign for mc_arc computations
1342 bool is_clockwise
= false;
1343 if( motion_mode
== CW_ARC
) {
1344 is_clockwise
= true;
1348 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1352 float Robot::theta(float x
, float y
)
1354 float t
= atanf(x
/ fabs(y
));
1366 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1368 this->plane_axis_0
= axis_0
;
1369 this->plane_axis_1
= axis_1
;
1370 this->plane_axis_2
= axis_2
;
1373 void Robot::clearToolOffset()
1375 this->tool_offset
= wcs_t(0,0,0);
1378 void Robot::setToolOffset(const float offset
[3])
1380 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1383 float Robot::get_feed_rate() const
1385 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;