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"
36 #include "EndstopsPublicAccess.h"
38 #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 enable_checksum CHECKSUM("enable")
92 #define halt_checksum CHECKSUM("halt")
93 #define soft_endstop_checksum CHECKSUM("soft_endstop")
94 #define xmin_checksum CHECKSUM("x_min")
95 #define ymin_checksum CHECKSUM("y_min")
96 #define zmin_checksum CHECKSUM("z_min")
97 #define xmax_checksum CHECKSUM("x_max")
98 #define ymax_checksum CHECKSUM("y_max")
99 #define zmax_checksum CHECKSUM("z_max")
101 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
103 // 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
104 // It takes care of cutting arcs into segments, same thing for line that are too long
108 this->inch_mode
= false;
109 this->absolute_mode
= true;
110 this->e_absolute_mode
= true;
111 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
112 memset(this->machine_position
, 0, sizeof machine_position
);
113 memset(this->compensated_machine_position
, 0, sizeof compensated_machine_position
);
114 this->arm_solution
= NULL
;
115 seconds_per_minute
= 60.0F
;
116 this->clearToolOffset();
117 this->compensationTransform
= nullptr;
118 this->get_e_scale_fnc
= nullptr;
119 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
120 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
121 this->next_command_is_MCS
= false;
122 this->disable_segmentation
= false;
123 this->disable_arm_solution
= false;
127 //Called when the module has just been loaded
128 void Robot::on_module_loaded()
130 this->register_for_event(ON_GCODE_RECEIVED
);
136 #define ACTUATOR_CHECKSUMS(X) { \
137 CHECKSUM(X "_step_pin"), \
138 CHECKSUM(X "_dir_pin"), \
139 CHECKSUM(X "_en_pin"), \
140 CHECKSUM(X "_steps_per_mm"), \
141 CHECKSUM(X "_max_rate"), \
142 CHECKSUM(X "_acceleration") \
145 void Robot::load_config()
147 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
148 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
149 // To make adding those solution easier, they have their own, separate object.
150 // Here we read the config to find out which arm solution to use
151 if (this->arm_solution
) delete this->arm_solution
;
152 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
153 // Note checksums are not const expressions when in debug mode, so don't use switch
154 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
155 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
157 } else if(solution_checksum
== corexz_checksum
) {
158 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
160 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
161 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
163 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
164 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
166 } else if(solution_checksum
== rotary_delta_checksum
) {
167 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
169 } else if(solution_checksum
== morgan_checksum
) {
170 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
172 } else if(solution_checksum
== cartesian_checksum
) {
173 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
176 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
179 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
180 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
181 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
182 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
183 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
184 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
185 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
187 // in mm/sec but specified in config as mm/min
188 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
189 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
190 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
192 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
193 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
194 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
196 // optional setting for a fixed G92 offset
197 std::vector
<float> t
= parse_number_list(g92
.c_str());
199 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
203 // default s value for laser
204 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
206 // Make our Primary XYZ StepperMotors, and potentially A B C
207 uint16_t const motor_checksums
[][6] = {
208 ACTUATOR_CHECKSUMS("alpha"), // X
209 ACTUATOR_CHECKSUMS("beta"), // Y
210 ACTUATOR_CHECKSUMS("gamma"), // Z
211 #if MAX_ROBOT_ACTUATORS > 3
212 ACTUATOR_CHECKSUMS("delta"), // A
213 #if MAX_ROBOT_ACTUATORS > 4
214 ACTUATOR_CHECKSUMS("epsilon"), // B
215 #if MAX_ROBOT_ACTUATORS > 5
216 ACTUATOR_CHECKSUMS("zeta") // C
222 // default acceleration setting, can be overriden with newer per axis settings
223 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
226 for (size_t a
= 0; a
< MAX_ROBOT_ACTUATORS
; a
++) {
227 Pin pins
[3]; //step, dir, enable
228 for (size_t i
= 0; i
< 3; i
++) {
229 pins
[i
].from_string(THEKERNEL
->config
->value(motor_checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
232 if(!pins
[0].connected() || !pins
[1].connected()) { // step and dir must be defined, but enable is optional
234 THEKERNEL
->streams
->printf("FATAL: motor %c is not defined in config\n", 'X'+a
);
235 n_motors
= a
; // we only have this number of motors
238 break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order)
241 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
242 // register this motor (NB This must be 0,1,2) of the actuators array
243 uint8_t n
= register_motor(sm
);
245 // this is a fatal error
246 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
250 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(motor_checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
251 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(motor_checksums
[a
][4])->by_default(30000.0F
)->as_number()/60.0F
); // it is in mm/min and converted to mm/sec
252 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(motor_checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
255 check_max_actuator_speeds(); // check the configs are sane
257 // if we have not specified a z acceleration see if the legacy config was set
258 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
259 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
261 actuators
[Z_AXIS
]->set_acceleration(acc
);
265 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
266 // so the first move can be correct if homing is not performed
267 ActuatorCoordinates actuator_pos
;
268 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
269 for (size_t i
= 0; i
< n_motors
; i
++)
270 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
272 //this->clearToolOffset();
274 soft_endstop_enabled
= THEKERNEL
->config
->value(soft_endstop_checksum
, enable_checksum
)->by_default(false)->as_bool();
275 soft_endstop_halt
= THEKERNEL
->config
->value(soft_endstop_checksum
, halt_checksum
)->by_default(true)->as_bool();
277 soft_endstop_min
[X_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, xmin_checksum
)->by_default(NAN
)->as_number();
278 soft_endstop_min
[Y_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, ymin_checksum
)->by_default(NAN
)->as_number();
279 soft_endstop_min
[Z_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, zmin_checksum
)->by_default(NAN
)->as_number();
280 soft_endstop_max
[X_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, xmax_checksum
)->by_default(NAN
)->as_number();
281 soft_endstop_max
[Y_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, ymax_checksum
)->by_default(NAN
)->as_number();
282 soft_endstop_max
[Z_AXIS
]= THEKERNEL
->config
->value(soft_endstop_checksum
, zmax_checksum
)->by_default(NAN
)->as_number();
285 uint8_t Robot::register_motor(StepperMotor
*motor
)
287 // register this motor with the step ticker
288 THEKERNEL
->step_ticker
->register_motor(motor
);
289 if(n_motors
>= k_max_actuators
) {
290 // this is a fatal error
291 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
294 actuators
.push_back(motor
);
295 motor
->set_motor_id(n_motors
);
299 void Robot::push_state()
301 bool am
= this->absolute_mode
;
302 bool em
= this->e_absolute_mode
;
303 bool im
= this->inch_mode
;
304 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
308 void Robot::pop_state()
310 if(!state_stack
.empty()) {
311 auto s
= state_stack
.top();
313 this->feed_rate
= std::get
<0>(s
);
314 this->seek_rate
= std::get
<1>(s
);
315 this->absolute_mode
= std::get
<2>(s
);
316 this->e_absolute_mode
= std::get
<3>(s
);
317 this->inch_mode
= std::get
<4>(s
);
318 this->current_wcs
= std::get
<5>(s
);
322 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
324 std::vector
<wcs_t
> v
;
325 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
326 for(auto& i
: wcs_offsets
) {
329 v
.push_back(g92_offset
);
330 v
.push_back(tool_offset
);
334 void Robot::get_current_machine_position(float *pos
) const
336 // get real time current actuator position in mm
337 ActuatorCoordinates current_position
{
338 actuators
[X_AXIS
]->get_current_position(),
339 actuators
[Y_AXIS
]->get_current_position(),
340 actuators
[Z_AXIS
]->get_current_position()
343 // get machine position from the actuator position using FK
344 arm_solution
->actuator_to_cartesian(current_position
, pos
);
347 void Robot::print_position(uint8_t subcode
, std::string
& res
, bool ignore_extruders
) const
349 // M114.1 is a new way to do this (similar to how GRBL does it).
350 // it returns the realtime position based on the current step position of the actuators.
351 // this does require a FK to get a machine position from the actuator position
352 // and then invert all the transforms to get a workspace position from machine position
353 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
356 if(subcode
== 0) { // M114 print WCS
357 wcs_t pos
= mcs2wcs(machine_position
);
358 n
= snprintf(buf
, sizeof(buf
), "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
)));
360 } else if(subcode
== 4) {
361 // M114.4 print last milestone
362 n
= snprintf(buf
, sizeof(buf
), "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position
[X_AXIS
], machine_position
[Y_AXIS
], machine_position
[Z_AXIS
]);
364 } else if(subcode
== 5) {
365 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
366 // will differ from LMS by the compensation at the current position otherwise
367 n
= snprintf(buf
, sizeof(buf
), "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
]);
370 // get real time positions
372 get_current_machine_position(mpos
);
374 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
375 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
377 if(subcode
== 1) { // M114.1 print realtime WCS
378 wcs_t pos
= mcs2wcs(mpos
);
379 n
= snprintf(buf
, sizeof(buf
), "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
)));
381 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
382 n
= snprintf(buf
, sizeof(buf
), "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
384 } else if(subcode
== 3) { // M114.3 print realtime actuator position
385 // get real time current actuator position in mm
386 ActuatorCoordinates current_position
{
387 actuators
[X_AXIS
]->get_current_position(),
388 actuators
[Y_AXIS
]->get_current_position(),
389 actuators
[Z_AXIS
]->get_current_position()
391 n
= snprintf(buf
, sizeof(buf
), "APOS: X:%1.4f Y:%1.4f Z:%1.4f", current_position
[X_AXIS
], current_position
[Y_AXIS
], current_position
[Z_AXIS
]);
395 if(n
> sizeof(buf
)) n
= sizeof(buf
);
398 #if MAX_ROBOT_ACTUATORS > 3
399 // deal with the ABC axis
400 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
402 if(ignore_extruders
&& actuators
[i
]->is_extruder()) continue; // don't show an extruder as that will be E
403 if(subcode
== 4) { // M114.4 print last milestone
404 n
= snprintf(buf
, sizeof(buf
), " %c:%1.4f", 'A'+i
-A_AXIS
, machine_position
[i
]);
406 }else if(subcode
== 2 || subcode
== 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC
407 // current actuator position
408 n
= snprintf(buf
, sizeof(buf
), " %c:%1.4f", 'A'+i
-A_AXIS
, actuators
[i
]->get_current_position());
410 if(n
> sizeof(buf
)) n
= sizeof(buf
);
411 if(n
> 0) res
.append(buf
, n
);
416 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
417 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
419 return std::make_tuple(
420 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
),
421 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
),
422 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
)
426 // this does a sanity check that actuator speeds do not exceed steps rate capability
427 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
428 void Robot::check_max_actuator_speeds()
430 for (size_t i
= 0; i
< n_motors
; i
++) {
431 if(actuators
[i
]->is_extruder()) continue; //extruders are not included in this check
433 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
434 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
435 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
436 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());
441 //A GCode has been received
442 //See if the current Gcode line has some orders for us
443 void Robot::on_gcode_received(void *argument
)
445 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
447 enum MOTION_MODE_T motion_mode
= NONE
;
451 case 0: motion_mode
= SEEK
; break;
452 case 1: motion_mode
= LINEAR
; break;
453 case 2: motion_mode
= CW_ARC
; break;
454 case 3: motion_mode
= CCW_ARC
; break;
455 case 4: { // G4 Dwell
456 uint32_t delay_ms
= 0;
457 if (gcode
->has_letter('P')) {
458 if(THEKERNEL
->is_grbl_mode()) {
459 // in grbl mode (and linuxcnc) P is decimal seconds
460 float f
= gcode
->get_value('P');
461 delay_ms
= f
* 1000.0F
;
464 // in reprap P is milliseconds, they always have to be different!
465 delay_ms
= gcode
->get_int('P');
468 if (gcode
->has_letter('S')) {
469 delay_ms
+= gcode
->get_int('S') * 1000;
473 THEKERNEL
->conveyor
->wait_for_idle();
474 // wait for specified time
475 uint32_t start
= us_ticker_read(); // mbed call
476 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
477 THEKERNEL
->call_event(ON_IDLE
, this);
478 if(THEKERNEL
->is_halted()) return;
484 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
485 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
486 size_t n
= gcode
->get_uint('P');
487 if(n
== 0) n
= current_wcs
; // set current coordinate system
491 std::tie(x
, y
, z
) = wcs_offsets
[n
];
492 if(gcode
->get_int('L') == 20) {
493 // this makes the current machine position (less compensation transform) the offset
494 // get current position in WCS
495 wcs_t pos
= mcs2wcs(machine_position
);
497 if(gcode
->has_letter('X')){
498 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
501 if(gcode
->has_letter('Y')){
502 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
504 if(gcode
->has_letter('Z')) {
505 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
510 // the value is the offset from machine zero
511 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
512 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
513 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
515 if(gcode
->has_letter('X')) x
+= to_millimeters(gcode
->get_value('X'));
516 if(gcode
->has_letter('Y')) y
+= to_millimeters(gcode
->get_value('Y'));
517 if(gcode
->has_letter('Z')) z
+= to_millimeters(gcode
->get_value('Z'));
520 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
525 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
526 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
527 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
528 case 20: this->inch_mode
= true; break;
529 case 21: this->inch_mode
= false; break;
531 case 54: case 55: case 56: case 57: case 58: case 59:
532 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
533 current_wcs
= gcode
->g
- 54;
534 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
535 current_wcs
+= gcode
->subcode
;
536 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
540 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
541 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
544 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
545 // reset G92 offsets to 0
546 g92_offset
= wcs_t(0, 0, 0);
548 } else if(gcode
->subcode
== 3) {
549 // initialize G92 to the specified values, only used for saving it with M500
550 float x
= 0, y
= 0, z
= 0;
551 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
552 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
553 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
554 g92_offset
= wcs_t(x
, y
, z
);
557 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
559 std::tie(x
, y
, z
) = g92_offset
;
560 // get current position in WCS
561 wcs_t pos
= mcs2wcs(machine_position
);
563 // adjust g92 offset to make the current wpos == the value requested
564 if(gcode
->has_letter('X')){
565 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
567 if(gcode
->has_letter('Y')){
568 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
570 if(gcode
->has_letter('Z')) {
571 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
573 g92_offset
= wcs_t(x
, y
, z
);
576 #if MAX_ROBOT_ACTUATORS > 3
577 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
578 // reset the E position, legacy for 3d Printers to be reprap compatible
579 // find the selected extruder
580 int selected_extruder
= get_active_extruder();
581 if(selected_extruder
> 0) {
582 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
583 machine_position
[selected_extruder
]= compensated_machine_position
[selected_extruder
]= e
;
584 actuators
[selected_extruder
]->change_last_milestone(get_e_scale_fnc
? e
*get_e_scale_fnc() : e
);
593 } else if( gcode
->has_m
) {
595 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
596 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
599 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
600 if(!THEKERNEL
->is_grbl_mode()) break;
601 // fall through to M2
602 case 2: // M2 end of program
604 absolute_mode
= true;
607 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
610 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
611 if(gcode
->get_num_args() > 0) {
612 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
614 for (int i
= 0; i
< n_motors
; ++i
) {
615 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
616 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
618 // handle E parameter as currently selected extruder ABC
619 if(gcode
->has_letter('E')) {
620 // find first selected extruder
621 int i
= get_active_extruder();
623 bm
|= (0x02<<i
); // set appropriate bit
627 THEKERNEL
->conveyor
->wait_for_idle();
628 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
633 THEKERNEL
->conveyor
->wait_for_idle();
634 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
637 case 82: e_absolute_mode
= true; break;
638 case 83: e_absolute_mode
= false; break;
640 case 92: // M92 - set steps per mm
641 for (int i
= 0; i
< n_motors
; ++i
) {
642 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
643 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
644 if(gcode
->has_letter(axis
)) {
645 actuators
[i
]->change_steps_per_mm(this->to_millimeters(gcode
->get_value(axis
)));
647 gcode
->stream
->printf("%c:%f ", axis
, actuators
[i
]->get_steps_per_mm());
649 gcode
->add_nl
= true;
650 check_max_actuator_speeds();
655 print_position(gcode
->subcode
, buf
, true); // ignore extruders as they will print E themselves
656 gcode
->txt_after_ok
.append(buf
);
660 case 120: // push state
664 case 121: // pop state
668 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
669 if(gcode
->get_num_args() == 0) {
670 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
671 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
673 if(gcode
->subcode
== 1) {
674 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
675 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
676 gcode
->stream
->printf(" %c: %g ", 'A' + i
- A_AXIS
, actuators
[i
]->get_max_rate());
680 gcode
->add_nl
= true;
683 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
684 if (gcode
->has_letter('X' + i
)) {
685 float v
= gcode
->get_value('X'+i
);
686 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
687 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
691 if(gcode
->subcode
== 1) {
692 // ABC axis only handle actuator max speeds
693 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
694 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
695 int c
= 'A' + i
- A_AXIS
;
696 if(gcode
->has_letter(c
)) {
697 float v
= gcode
->get_value(c
);
698 actuators
[i
]->set_max_rate(v
);
704 // this format is deprecated
705 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
706 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
707 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
708 if (gcode
->has_letter('A' + i
)) {
709 float v
= gcode
->get_value('A'+i
);
710 actuators
[i
]->set_max_rate(v
);
715 if(gcode
->subcode
== 1) check_max_actuator_speeds();
719 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
720 if (gcode
->has_letter('S')) {
721 float acc
= gcode
->get_value('S'); // mm/s^2
723 if (acc
< 1.0F
) acc
= 1.0F
;
724 this->default_acceleration
= acc
;
726 for (int i
= 0; i
< n_motors
; ++i
) {
727 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
728 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
729 if(gcode
->has_letter(axis
)) {
730 float acc
= gcode
->get_value(axis
); // mm/s^2
732 if (acc
<= 0.0F
) acc
= NAN
;
733 actuators
[i
]->set_acceleration(acc
);
738 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
739 if (gcode
->has_letter('X')) {
740 float jd
= gcode
->get_value('X');
744 THEKERNEL
->planner
->junction_deviation
= jd
;
746 if (gcode
->has_letter('Z')) {
747 float jd
= gcode
->get_value('Z');
748 // enforce minimum, -1 disables it and uses regular junction deviation
751 THEKERNEL
->planner
->z_junction_deviation
= jd
;
753 if (gcode
->has_letter('S')) {
754 float mps
= gcode
->get_value('S');
758 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
762 case 211: // M211 Sn turns soft endstops on/off
763 if(gcode
->has_letter('S')) {
764 soft_endstop_enabled
= gcode
->get_uint('S') == 1;
766 gcode
->stream
->printf("Soft endstops are %s", soft_endstop_enabled
? "Enabled" : "Disabled");
767 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
768 if(isnan(soft_endstop_min
[i
])) {
769 gcode
->stream
->printf(",%c min is disabled", 'X'+i
);
771 if(isnan(soft_endstop_max
[i
])) {
772 gcode
->stream
->printf(",%c max is disabled", 'X'+i
);
775 gcode
->stream
->printf(",%c axis is not homed", 'X'+i
);
778 gcode
->stream
->printf("\n");
782 case 220: // M220 - speed override percentage
783 if (gcode
->has_letter('S')) {
784 float factor
= gcode
->get_value('S');
785 // enforce minimum 10% speed
788 // enforce maximum 10x speed
789 if (factor
> 1000.0F
)
792 seconds_per_minute
= 6000.0F
/ factor
;
794 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
798 case 400: // wait until all moves are done up to this point
799 THEKERNEL
->conveyor
->wait_for_idle();
802 case 500: // M500 saves some volatile settings to config override file
803 case 503: { // M503 just prints the settings
804 gcode
->stream
->printf(";Steps per unit:\nM92 ");
805 for (int i
= 0; i
< n_motors
; ++i
) {
806 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
807 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
808 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_steps_per_mm());
810 gcode
->stream
->printf("\n");
812 // only print if not NAN
813 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
814 for (int i
= 0; i
< n_motors
; ++i
) {
815 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
816 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
817 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_acceleration());
819 gcode
->stream
->printf("\n");
821 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
);
823 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
]);
825 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 ");
826 for (int i
= 0; i
< n_motors
; ++i
) {
827 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
828 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
829 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_max_rate());
831 gcode
->stream
->printf("\n");
833 // get or save any arm solution specific optional values
834 BaseSolution::arm_options_t options
;
835 if(arm_solution
->get_optional(options
) && !options
.empty()) {
836 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
837 for(auto &i
: options
) {
838 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
840 gcode
->stream
->printf("\n");
843 // save wcs_offsets and current_wcs
844 // TODO this may need to be done whenever they change to be compliant
845 gcode
->stream
->printf(";WCS settings\n");
846 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
848 for(auto &i
: wcs_offsets
) {
849 if(i
!= wcs_t(0, 0, 0)) {
851 std::tie(x
, y
, z
) = i
;
852 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
857 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
858 // 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
859 if(g92_offset
!= wcs_t(0, 0, 0)) {
861 std::tie(x
, y
, z
) = g92_offset
;
862 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
868 case 665: { // M665 set optional arm solution variables based on arm solution.
869 // the parameter args could be any letter each arm solution only accepts certain ones
870 BaseSolution::arm_options_t options
= gcode
->get_args();
871 options
.erase('S'); // don't include the S
872 options
.erase('U'); // don't include the U
873 if(options
.size() > 0) {
874 // set the specified options
875 arm_solution
->set_optional(options
);
878 if(arm_solution
->get_optional(options
)) {
879 // foreach optional value
880 for(auto &i
: options
) {
881 // print all current values of supported options
882 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
883 gcode
->add_nl
= true;
887 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
888 this->delta_segments_per_second
= gcode
->get_value('S');
889 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
891 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
892 this->mm_per_line_segment
= gcode
->get_value('U');
893 this->delta_segments_per_second
= 0;
894 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
902 if( motion_mode
!= NONE
) {
903 is_g123
= motion_mode
!= SEEK
;
904 process_move(gcode
, motion_mode
);
910 next_command_is_MCS
= false; // must be on same line as G0 or G1
913 int Robot::get_active_extruder() const
915 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
916 // find first selected extruder
917 if(actuators
[i
]->is_extruder() && actuators
[i
]->is_selected()) return i
;
922 // process a G0/G1/G2/G3
923 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
925 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
926 // get XYZ and one E (which goes to the selected extruder)
927 float param
[4]{NAN
, NAN
, NAN
, NAN
};
929 // process primary axis
930 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
932 if( gcode
->has_letter(letter
) ) {
933 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
937 float offset
[3]{0,0,0};
938 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
939 if( gcode
->has_letter(letter
) ) {
940 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
944 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
945 float target
[n_motors
];
946 memcpy(target
, machine_position
, n_motors
*sizeof(float));
948 if(!next_command_is_MCS
) {
949 if(this->absolute_mode
) {
950 // apply wcs offsets and g92 offset and tool offset
951 if(!isnan(param
[X_AXIS
])) {
952 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
);
955 if(!isnan(param
[Y_AXIS
])) {
956 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
);
959 if(!isnan(param
[Z_AXIS
])) {
960 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
);
964 // they are deltas from the machine_position if specified
965 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
966 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
971 // already in machine coordinates, we do not add wcs or tool offset for that
972 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
973 if(!isnan(param
[i
])) target
[i
] = param
[i
];
979 #if MAX_ROBOT_ACTUATORS > 3
980 // process extruder parameters, for active extruder only (only one active extruder at a time)
981 int selected_extruder
= 0;
982 if(gcode
->has_letter('E')) {
983 selected_extruder
= get_active_extruder();
984 param
[E_AXIS
]= gcode
->get_value('E');
987 // do E for the selected extruder
988 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
989 if(this->e_absolute_mode
) {
990 target
[selected_extruder
]= param
[E_AXIS
];
991 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
993 delta_e
= param
[E_AXIS
];
994 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
998 // process ABC axis, this is mutually exclusive to using E for an extruder, so if E is used and A then the results are undefined
999 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
1000 char letter
= 'A'+i
-A_AXIS
;
1001 if(gcode
->has_letter(letter
)) {
1002 float p
= gcode
->get_value(letter
);
1003 if(this->absolute_mode
) {
1006 target
[i
]= p
+ machine_position
[i
];
1012 if( gcode
->has_letter('F') ) {
1013 if( motion_mode
== SEEK
)
1014 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
1016 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
1019 // S is modal When specified on a G0/1/2/3 command
1020 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
1024 // Perform any physical actions
1025 switch(motion_mode
) {
1029 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
1033 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
1038 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
1039 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
1043 // needed to act as start of next arc command
1044 memcpy(arc_milestone
, target
, sizeof(arc_milestone
));
1047 // set machine_position to the calculated target
1048 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1052 // reset the machine position for all axis. Used for homing.
1053 // after homing we supply the cartesian coordinates that the head is at when homed,
1054 // however for Z this is the compensated machine position (if enabled)
1055 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
1056 // this will make the results from M114 and ? consistent after homing.
1057 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
1058 void Robot::reset_axis_position(float x
, float y
, float z
)
1060 // set both the same initially
1061 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
1062 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
1063 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
1065 if(compensationTransform
) {
1066 // apply inverse transform to get machine_position
1067 compensationTransform(machine_position
, true);
1070 // now set the actuator positions based on the supplied compensated position
1071 ActuatorCoordinates actuator_pos
;
1072 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
1073 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
1074 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1077 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
1078 void Robot::reset_axis_position(float position
, int axis
)
1080 compensated_machine_position
[axis
] = position
;
1081 if(axis
<= Z_AXIS
) {
1082 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
1084 #if MAX_ROBOT_ACTUATORS > 3
1085 }else if(axis
< n_motors
) {
1086 // ABC and/or extruders need to be set as there is no arm solution for them
1087 machine_position
[axis
]= compensated_machine_position
[axis
]= position
;
1088 actuators
[axis
]->change_last_milestone(machine_position
[axis
]);
1093 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
1094 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
1095 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
1097 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1098 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
1101 // now correct axis positions then recorrect actuator to account for rounding
1102 reset_position_from_current_actuator_position();
1105 // Use FK to find out where actuator is and reset to match
1106 // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
1107 void Robot::reset_position_from_current_actuator_position()
1109 ActuatorCoordinates actuator_pos
;
1110 for (size_t i
= X_AXIS
; i
< n_motors
; i
++) {
1111 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
1112 actuator_pos
[i
] = actuators
[i
]->get_current_position();
1115 // discover machine position from where actuators actually are
1116 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
1117 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
1119 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
1120 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
1122 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
1123 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
1124 // to get everything in perfect sync.
1125 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
1126 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1127 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1130 // Handle extruders and/or ABC axis
1131 #if MAX_ROBOT_ACTUATORS > 3
1132 for (int i
= A_AXIS
; i
< n_motors
; i
++) {
1133 // ABC and/or extruders just need to set machine_position and compensated_machine_position
1134 float ap
= actuator_pos
[i
];
1135 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) ap
/= get_e_scale_fnc(); // inverse E scale if there is one and this is an extruder
1136 machine_position
[i
]= compensated_machine_position
[i
]= ap
;
1137 actuators
[i
]->change_last_milestone(actuator_pos
[i
]); // this updates the last_milestone in the actuator
1142 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
1143 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
1144 // all transforms and is what we actually convert to actuator positions
1145 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
1147 float deltas
[n_motors
];
1148 float transformed_target
[n_motors
]; // adjust target for bed compensation
1149 float unit_vec
[N_PRIMARY_AXIS
];
1151 // unity transform by default
1152 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
1154 // check function pointer and call if set to transform the target to compensate for bed
1155 if(compensationTransform
) {
1156 // some compensation strategies can transform XYZ, some just change Z
1157 compensationTransform(transformed_target
, false);
1160 // check soft endstops only for homed axis that are enabled
1161 if(soft_endstop_enabled
) {
1162 for (int i
= 0; i
<= Z_AXIS
; ++i
) {
1163 if(!is_homed(i
)) continue;
1164 if( (!isnan(soft_endstop_min
[i
]) && transformed_target
[i
] < soft_endstop_min
[i
]) || (!isnan(soft_endstop_max
[i
]) && transformed_target
[i
] > soft_endstop_max
[i
]) ) {
1165 if(soft_endstop_halt
) {
1166 if(THEKERNEL
->is_grbl_mode()) {
1167 THEKERNEL
->streams
->printf("error: ");
1169 THEKERNEL
->streams
->printf("Error: ");
1172 THEKERNEL
->streams
->printf("Soft Endstop %c was exceeded - reset or $X or M999 required\n", i
+'X');
1173 THEKERNEL
->call_event(ON_HALT
, nullptr);
1176 //} else if(soft_endstop_truncate) {
1177 // TODO VERY hard to do need to go back and change the target, and calculate intercept with the edge
1178 // and store all preceding vectors that have on eor more points ourtside of bounds so we can create a propper clip against the boundaries
1182 if(THEKERNEL
->is_grbl_mode()) {
1183 THEKERNEL
->streams
->printf("error: ");
1185 THEKERNEL
->streams
->printf("Error: ");
1187 THEKERNEL
->streams
->printf("Soft Endstop %c was exceeded - entire move ignored\n", i
+'X');
1196 float sos
= 0; // sum of squares for just primary axis (XYZ usually)
1198 // find distance moved by each axis, use transformed target from the current compensated machine position
1199 for (size_t i
= 0; i
< n_motors
; i
++) {
1200 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
1201 if(deltas
[i
] == 0) continue;
1202 // at least one non zero delta
1204 if(i
< N_PRIMARY_AXIS
) {
1205 sos
+= powf(deltas
[i
], 2);
1210 if(!move
) return false;
1212 // see if this is a primary axis move or not
1213 bool auxilliary_move
= true;
1214 for (int i
= 0; i
< N_PRIMARY_AXIS
; ++i
) {
1215 if(deltas
[i
] != 0) {
1216 auxilliary_move
= false;
1221 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
1222 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
1224 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1225 // 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
1226 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1229 if(!auxilliary_move
) {
1230 for (size_t i
= X_AXIS
; i
< N_PRIMARY_AXIS
; i
++) {
1231 // find distance unit vector for primary axis only
1232 unit_vec
[i
] = deltas
[i
] / distance
;
1234 // Do not move faster than the configured cartesian limits for XYZ
1235 if ( i
<= Z_AXIS
&& max_speeds
[i
] > 0 ) {
1236 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1238 if (axis_speed
> max_speeds
[i
])
1239 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1244 // find actuator position given the machine position, use actual adjusted target
1245 ActuatorCoordinates actuator_pos
;
1246 if(!disable_arm_solution
) {
1247 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1250 // basically the same as cartesian, would be used for special homing situations like for scara
1251 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1252 actuator_pos
[i
] = transformed_target
[i
];
1256 #if MAX_ROBOT_ACTUATORS > 3
1258 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1259 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1260 actuator_pos
[i
]= transformed_target
[i
];
1261 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) {
1262 // NOTE this relies on the fact only one extruder is active at a time
1263 // scale for volumetric or flow rate
1264 // TODO is this correct? scaling the absolute target? what if the scale changes?
1265 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1266 actuator_pos
[i
] *= get_e_scale_fnc();
1268 if(auxilliary_move
) {
1269 // for E only moves we need to use the scaled E to calculate the distance
1270 sos
+= powf(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1273 if(auxilliary_move
) {
1274 distance
= sqrtf(sos
); // distance in mm of the e move
1275 if(distance
< 0.00001F
) return false;
1279 // use default acceleration to start with
1280 float acceleration
= default_acceleration
;
1282 float isecs
= rate_mm_s
/ distance
;
1284 // check per-actuator speed limits
1285 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1286 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1287 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1289 float actuator_rate
= d
* isecs
;
1290 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1291 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1292 isecs
= rate_mm_s
/ distance
;
1295 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1296 // 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.
1297 if(auxilliary_move
|| actuator
< N_PRIMARY_AXIS
) {
1298 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1299 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1300 float ca
= fabsf((d
/distance
) * acceleration
);
1302 acceleration
*= ( ma
/ ca
);
1308 // if we are in feed hold wait here until it is released, this means that even segemnted lines will pause
1309 while(THEKERNEL
->get_feed_hold()) {
1310 THEKERNEL
->call_event(ON_IDLE
, this);
1311 // if we also got a HALT then break out of this
1312 if(THEKERNEL
->is_halted()) return false;
1315 // Append the block to the planner
1316 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1317 // NOTE this call will bock until there is room in the block queue, on_idle will continue to be called
1318 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1319 // this is the new compensated machine position
1320 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1328 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1329 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1331 if(THEKERNEL
->is_halted()) return false;
1333 // catch negative or zero feed rates
1334 if(rate_mm_s
<= 0.0F
) {
1338 // get the absolute target position, default is current machine_position
1339 float target
[n_motors
];
1340 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1342 // add in the deltas to get new target
1343 for (int i
= 0; i
< naxis
; i
++) {
1344 target
[i
] += delta
[i
];
1347 // submit for planning and if moved update machine_position
1348 if(append_milestone(target
, rate_mm_s
)) {
1349 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1356 // Append a move to the queue ( cutting it into segments if needed )
1357 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1359 // catch negative or zero feed rates and return the same error as GRBL does
1360 if(rate_mm_s
<= 0.0F
) {
1361 gcode
->is_error
= true;
1362 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1366 // Find out the distance for this move in XYZ in MCS
1367 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 ));
1369 if(millimeters_of_travel
< 0.00001F
) {
1370 // we have no movement in XYZ, probably E only extrude or retract
1371 return this->append_milestone(target
, rate_mm_s
);
1375 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1376 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1377 We ask Extruder to do all the work but we need to pass in the relevant data.
1378 NOTE we need to do this before we segment the line (for deltas)
1380 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1381 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1382 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1383 rate_mm_s
*= data
[1]; // adjust the feedrate
1387 // 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.
1388 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1389 // 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
1392 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1395 } else if(this->delta_segments_per_second
> 1.0F
) {
1396 // enabled if set to something > 1, it is set to 0.0 by default
1397 // segment based on current speed and requested segments per second
1398 // the faster the travel speed the fewer segments needed
1399 // NOTE rate is mm/sec and we take into account any speed override
1400 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1401 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1402 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1405 if(this->mm_per_line_segment
== 0.0F
) {
1406 segments
= 1; // don't split it up
1408 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1414 // A vector to keep track of the endpoint of each segment
1415 float segment_delta
[n_motors
];
1416 float segment_end
[n_motors
];
1417 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1419 // How far do we move each segment?
1420 for (int i
= 0; i
< n_motors
; i
++)
1421 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1423 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1424 // We always add another point after this loop so we stop at segments-1, ie i < segments
1425 for (int i
= 1; i
< segments
; i
++) {
1426 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1427 for (int j
= 0; j
< n_motors
; j
++)
1428 segment_end
[j
] += segment_delta
[j
];
1430 // Append the end of this segment to the queue
1431 // this can block waiting for free block queue or if in feed hold
1432 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1437 // Append the end of this full move to the queue
1438 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1440 this->next_command_is_MCS
= false; // always reset this
1446 // Append an arc to the queue ( cutting it into segments as needed )
1447 // TODO does not support any E parameters so cannot be used for 3D printing.
1448 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1450 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1451 // catch negative or zero feed rates and return the same error as GRBL does
1452 if(rate_mm_s
<= 0.0F
) {
1453 gcode
->is_error
= true;
1454 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1459 // We need to use arc_milestone here to get accurate arcs as previous machine_position may have been skipped due to small movements
1460 float center_axis0
= this->arc_milestone
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1461 float center_axis1
= this->arc_milestone
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1462 float linear_travel
= target
[this->plane_axis_2
] - this->arc_milestone
[this->plane_axis_2
];
1463 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to start position
1464 float r_axis1
= -offset
[this->plane_axis_1
];
1465 float rt_axis0
= target
[this->plane_axis_0
] - this->arc_milestone
[this->plane_axis_0
] - offset
[this->plane_axis_0
]; // Radius vector from center to target position
1466 float rt_axis1
= target
[this->plane_axis_1
] - this->arc_milestone
[this->plane_axis_1
] - offset
[this->plane_axis_1
];
1467 float angular_travel
= 0;
1468 //check for condition where atan2 formula will fail due to everything canceling out exactly
1469 if((this->arc_milestone
[this->plane_axis_0
]==target
[this->plane_axis_0
]) && (this->arc_milestone
[this->plane_axis_1
]==target
[this->plane_axis_1
])) {
1470 if (is_clockwise
) { // set angular_travel to -2pi for a clockwise full circle
1471 angular_travel
= (-2 * PI
);
1472 } else { // set angular_travel to 2pi for a counterclockwise full circle
1473 angular_travel
= (2 * PI
);
1476 // Patch from GRBL Firmware - Christoph Baumann 04072015
1477 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1478 // Only run if not a full circle or angular travel will incorrectly result in 0.0f
1479 angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1480 if (plane_axis_2
== Y_AXIS
) { is_clockwise
= !is_clockwise
; } //Math for XZ plane is reverse of other 2 planes
1481 if (is_clockwise
) { // adjust angular_travel to be in the range of -2pi to 0 for clockwise arcs
1482 if (angular_travel
> 0) { angular_travel
-= (2 * PI
); }
1483 } else { // adjust angular_travel to be in the range of 0 to 2pi for counterclockwise arcs
1484 if (angular_travel
< 0) { angular_travel
+= (2 * PI
); }
1488 // Find the distance for this gcode
1489 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1491 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1492 if( millimeters_of_travel
< 0.000001F
) {
1496 // limit segments by maximum arc error
1497 float arc_segment
= this->mm_per_arc_segment
;
1498 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1499 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1500 if (this->mm_per_arc_segment
< min_err_segment
) {
1501 arc_segment
= min_err_segment
;
1505 // catch fall through on above
1506 if(arc_segment
< 0.0001F
) {
1507 arc_segment
= 0.5F
; /// the old default, so we avoid the divide by zero
1510 // Figure out how many segments for this gcode
1511 // 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
1512 uint16_t segments
= floorf(millimeters_of_travel
/ arc_segment
);
1516 float theta_per_segment
= angular_travel
/ segments
;
1517 float linear_per_segment
= linear_travel
/ segments
;
1519 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1520 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1521 r_T = [cos(phi) -sin(phi);
1522 sin(phi) cos(phi] * r ;
1523 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1524 defined from the circle center to the initial position. Each line segment is formed by successive
1525 vector rotations. This requires only two cos() and sin() computations to form the rotation
1526 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1527 all float numbers are single precision on the Arduino. (True float precision will not have
1528 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1529 tool precision in some cases. Therefore, arc path correction is implemented.
1531 Small angle approximation may be used to reduce computation overhead further. This approximation
1532 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1533 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1534 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1535 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1536 issue for CNC machines with the single precision Arduino calculations.
1537 This approximation also allows mc_arc to immediately insert a line segment into the planner
1538 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1539 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1540 This is important when there are successive arc motions.
1542 // Vector rotation matrix values
1543 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1544 float sin_T
= theta_per_segment
;
1546 // TODO we need to handle the ABC axis here by segmenting them
1547 float arc_target
[n_motors
];
1554 // init array for all axis
1555 memcpy(arc_target
, machine_position
, n_motors
*sizeof(float));
1557 // Initialize the linear axis
1558 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1560 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1561 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1563 if (count
< this->arc_correction
) {
1564 // Apply vector rotation matrix
1565 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1566 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1570 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1571 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1572 cos_Ti
= cosf(i
* theta_per_segment
);
1573 sin_Ti
= sinf(i
* theta_per_segment
);
1574 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1575 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1579 // Update arc_target location
1580 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1581 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1582 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1584 // Append this segment to the queue
1585 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1590 // Ensure last segment arrives at target location.
1591 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1596 // Do the math for an arc and add it to the queue
1597 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1601 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1603 // Set clockwise/counter-clockwise sign for mc_arc computations
1604 bool is_clockwise
= false;
1605 if( motion_mode
== CW_ARC
) {
1606 is_clockwise
= true;
1610 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1614 float Robot::theta(float x
, float y
)
1616 float t
= atanf(x
/ fabs(y
));
1628 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1630 this->plane_axis_0
= axis_0
;
1631 this->plane_axis_1
= axis_1
;
1632 this->plane_axis_2
= axis_2
;
1635 void Robot::clearToolOffset()
1637 this->tool_offset
= wcs_t(0,0,0);
1640 void Robot::setToolOffset(const float offset
[3])
1642 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1645 float Robot::get_feed_rate() const
1647 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;
1650 bool Robot::is_homed(uint8_t i
) const
1652 if(i
>= 3) return false; // safety
1654 // if we are homing we ignore soft endstops so return false
1656 bool ok
= PublicData::get_value(endstops_checksum
, get_homing_status_checksum
, 0, &homing
);
1657 if(!ok
|| homing
) return false;
1659 // check individual axis homing status
1661 ok
= PublicData::get_value(endstops_checksum
, get_homed_status_checksum
, 0, homed
);
1662 if(!ok
) return false;