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()
44 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
45 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
46 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
47 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
48 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
49 #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error")
50 #define arc_correction_checksum CHECKSUM("arc_correction")
51 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
52 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
53 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
54 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
55 #define save_g92_checksum CHECKSUM("save_g92")
56 #define set_g92_checksum CHECKSUM("set_g92")
59 #define arm_solution_checksum CHECKSUM("arm_solution")
60 #define cartesian_checksum CHECKSUM("cartesian")
61 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
62 #define rostock_checksum CHECKSUM("rostock")
63 #define linear_delta_checksum CHECKSUM("linear_delta")
64 #define rotary_delta_checksum CHECKSUM("rotary_delta")
65 #define delta_checksum CHECKSUM("delta")
66 #define hbot_checksum CHECKSUM("hbot")
67 #define corexy_checksum CHECKSUM("corexy")
68 #define corexz_checksum CHECKSUM("corexz")
69 #define kossel_checksum CHECKSUM("kossel")
70 #define morgan_checksum CHECKSUM("morgan")
72 // new-style actuator stuff
73 #define actuator_checksum CHEKCSUM("actuator")
75 #define step_pin_checksum CHECKSUM("step_pin")
76 #define dir_pin_checksum CHEKCSUM("dir_pin")
77 #define en_pin_checksum CHECKSUM("en_pin")
79 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
80 #define max_rate_checksum CHECKSUM("max_rate")
81 #define acceleration_checksum CHECKSUM("acceleration")
82 #define z_acceleration_checksum CHECKSUM("z_acceleration")
84 #define alpha_checksum CHECKSUM("alpha")
85 #define beta_checksum CHECKSUM("beta")
86 #define gamma_checksum CHECKSUM("gamma")
88 #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
90 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
91 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
93 // 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
94 // It takes care of cutting arcs into segments, same thing for line that are too long
98 this->inch_mode
= false;
99 this->absolute_mode
= true;
100 this->e_absolute_mode
= true;
101 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
102 memset(this->machine_position
, 0, sizeof machine_position
);
103 memset(this->compensated_machine_position
, 0, sizeof compensated_machine_position
);
104 this->arm_solution
= NULL
;
105 seconds_per_minute
= 60.0F
;
106 this->clearToolOffset();
107 this->compensationTransform
= nullptr;
108 this->get_e_scale_fnc
= nullptr;
109 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
110 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
111 this->next_command_is_MCS
= false;
112 this->disable_segmentation
= false;
113 this->disable_arm_solution
= false;
117 //Called when the module has just been loaded
118 void Robot::on_module_loaded()
120 this->register_for_event(ON_GCODE_RECEIVED
);
126 #define ACTUATOR_CHECKSUMS(X) { \
127 CHECKSUM(X "_step_pin"), \
128 CHECKSUM(X "_dir_pin"), \
129 CHECKSUM(X "_en_pin"), \
130 CHECKSUM(X "_steps_per_mm"), \
131 CHECKSUM(X "_max_rate"), \
132 CHECKSUM(X "_acceleration") \
135 void Robot::load_config()
137 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
138 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
139 // To make adding those solution easier, they have their own, separate object.
140 // Here we read the config to find out which arm solution to use
141 if (this->arm_solution
) delete this->arm_solution
;
142 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
143 // Note checksums are not const expressions when in debug mode, so don't use switch
144 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
145 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
147 } else if(solution_checksum
== corexz_checksum
) {
148 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
150 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
151 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
153 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
154 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
156 } else if(solution_checksum
== rotary_delta_checksum
) {
157 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
159 } else if(solution_checksum
== morgan_checksum
) {
160 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
162 } else if(solution_checksum
== cartesian_checksum
) {
163 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
166 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
169 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
170 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
171 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
172 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
173 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
174 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
175 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
177 // in mm/sec but specified in config as mm/min
178 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
179 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
180 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
182 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
183 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
184 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
186 // optional setting for a fixed G92 offset
187 std::vector
<float> t
= parse_number_list(g92
.c_str());
189 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
193 // default s value for laser
194 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
196 // Make our Primary XYZ StepperMotors, and potentially A B C
197 uint16_t const checksums
[][6] = {
198 ACTUATOR_CHECKSUMS("alpha"), // X
199 ACTUATOR_CHECKSUMS("beta"), // Y
200 ACTUATOR_CHECKSUMS("gamma"), // Z
201 #if MAX_ROBOT_ACTUATORS > 3
202 ACTUATOR_CHECKSUMS("delta"), // A
203 #if MAX_ROBOT_ACTUATORS > 4
204 ACTUATOR_CHECKSUMS("epsilon"), // B
205 #if MAX_ROBOT_ACTUATORS > 5
206 ACTUATOR_CHECKSUMS("zeta") // C
212 // default acceleration setting, can be overriden with newer per axis settings
213 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
216 for (size_t a
= 0; a
< MAX_ROBOT_ACTUATORS
; a
++) {
217 Pin pins
[3]; //step, dir, enable
218 for (size_t i
= 0; i
< 3; i
++) {
219 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
222 if(!pins
[0].connected() || !pins
[1].connected()) { // step and dir must be defined, but enable is optional
224 THEKERNEL
->streams
->printf("FATAL: motor %c is not defined in config\n", 'X'+a
);
225 n_motors
= a
; // we only have this number of motors
228 break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order)
231 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
232 // register this motor (NB This must be 0,1,2) of the actuators array
233 uint8_t n
= register_motor(sm
);
235 // this is a fatal error
236 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
240 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
241 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
242 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
245 check_max_actuator_speeds(); // check the configs are sane
247 // if we have not specified a z acceleration see if the legacy config was set
248 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
249 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
251 actuators
[Z_AXIS
]->set_acceleration(acc
);
255 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
256 // so the first move can be correct if homing is not performed
257 ActuatorCoordinates actuator_pos
;
258 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
259 for (size_t i
= 0; i
< n_motors
; i
++)
260 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
262 //this->clearToolOffset();
265 uint8_t Robot::register_motor(StepperMotor
*motor
)
267 // register this motor with the step ticker
268 THEKERNEL
->step_ticker
->register_motor(motor
);
269 if(n_motors
>= k_max_actuators
) {
270 // this is a fatal error
271 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
274 actuators
.push_back(motor
);
275 motor
->set_motor_id(n_motors
);
279 void Robot::push_state()
281 bool am
= this->absolute_mode
;
282 bool em
= this->e_absolute_mode
;
283 bool im
= this->inch_mode
;
284 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
288 void Robot::pop_state()
290 if(!state_stack
.empty()) {
291 auto s
= state_stack
.top();
293 this->feed_rate
= std::get
<0>(s
);
294 this->seek_rate
= std::get
<1>(s
);
295 this->absolute_mode
= std::get
<2>(s
);
296 this->e_absolute_mode
= std::get
<3>(s
);
297 this->inch_mode
= std::get
<4>(s
);
298 this->current_wcs
= std::get
<5>(s
);
302 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
304 std::vector
<wcs_t
> v
;
305 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
306 for(auto& i
: wcs_offsets
) {
309 v
.push_back(g92_offset
);
310 v
.push_back(tool_offset
);
314 void Robot::get_current_machine_position(float *pos
) const
316 // get real time 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
324 arm_solution
->actuator_to_cartesian(current_position
, pos
);
327 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
329 // M114.1 is a new way to do this (similar to how GRBL does it).
330 // it returns the realtime position based on the current step position of the actuators.
331 // this does require a FK to get a machine position from the actuator position
332 // and then invert all the transforms to get a workspace position from machine position
333 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
335 if(subcode
== 0) { // M114 print WCS
336 wcs_t pos
= mcs2wcs(machine_position
);
337 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
)));
339 } else if(subcode
== 4) {
340 // M114.4 print last milestone
341 n
= snprintf(buf
, bufsize
, "MP: X:%1.4f Y:%1.4f Z:%1.4f", machine_position
[X_AXIS
], machine_position
[Y_AXIS
], machine_position
[Z_AXIS
]);
343 } else if(subcode
== 5) {
344 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
345 // will differ from LMS by the compensation at the current position otherwise
346 n
= snprintf(buf
, bufsize
, "CMP: X:%1.4f Y:%1.4f Z:%1.4f", compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
349 // get real time positions
351 get_current_machine_position(mpos
);
353 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
354 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
356 if(subcode
== 1) { // M114.1 print realtime WCS
357 wcs_t pos
= mcs2wcs(mpos
);
358 n
= snprintf(buf
, bufsize
, "WCS: X:%1.4f Y:%1.4f Z:%1.4f", from_millimeters(std::get
<X_AXIS
>(pos
)), from_millimeters(std::get
<Y_AXIS
>(pos
)), from_millimeters(std::get
<Z_AXIS
>(pos
)));
360 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
361 n
= snprintf(buf
, bufsize
, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
363 } else if(subcode
== 3) { // M114.3 print realtime actuator position
364 // get real time current actuator position in mm
365 ActuatorCoordinates current_position
{
366 actuators
[X_AXIS
]->get_current_position(),
367 actuators
[Y_AXIS
]->get_current_position(),
368 actuators
[Z_AXIS
]->get_current_position()
370 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
]);
374 #if MAX_ROBOT_ACTUATORS > 3
375 // deal with the ABC axis
376 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
377 if(actuators
[i
]->is_extruder()) continue; // don't show an extruder as that will be E
378 if(subcode
== 4) { // M114.4 print last milestone
379 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, machine_position
[i
]);
381 }else if(subcode
== 2 || subcode
== 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC
382 // current actuator position
383 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, actuators
[i
]->get_current_position());
391 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
392 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
394 return std::make_tuple(
395 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
),
396 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
),
397 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
)
401 // this does a sanity check that actuator speeds do not exceed steps rate capability
402 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
403 void Robot::check_max_actuator_speeds()
405 for (size_t i
= 0; i
< n_motors
; i
++) {
406 if(actuators
[i
]->is_extruder()) continue; //extruders are not included in this check
408 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
409 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
410 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
411 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());
416 //A GCode has been received
417 //See if the current Gcode line has some orders for us
418 void Robot::on_gcode_received(void *argument
)
420 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
422 enum MOTION_MODE_T motion_mode
= NONE
;
426 case 0: motion_mode
= SEEK
; break;
427 case 1: motion_mode
= LINEAR
; break;
428 case 2: motion_mode
= CW_ARC
; break;
429 case 3: motion_mode
= CCW_ARC
; break;
430 case 4: { // G4 Dwell
431 uint32_t delay_ms
= 0;
432 if (gcode
->has_letter('P')) {
433 if(THEKERNEL
->is_grbl_mode()) {
434 // in grbl mode (and linuxcnc) P is decimal seconds
435 float f
= gcode
->get_value('P');
436 delay_ms
= f
* 1000.0F
;
439 // in reprap P is milliseconds, they always have to be different!
440 delay_ms
= gcode
->get_int('P');
443 if (gcode
->has_letter('S')) {
444 delay_ms
+= gcode
->get_int('S') * 1000;
448 THEKERNEL
->conveyor
->wait_for_idle();
449 // wait for specified time
450 uint32_t start
= us_ticker_read(); // mbed call
451 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
452 THEKERNEL
->call_event(ON_IDLE
, this);
453 if(THEKERNEL
->is_halted()) return;
459 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
460 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
461 size_t n
= gcode
->get_uint('P');
462 if(n
== 0) n
= current_wcs
; // set current coordinate system
466 std::tie(x
, y
, z
) = wcs_offsets
[n
];
467 if(gcode
->get_int('L') == 20) {
468 // this makes the current machine position (less compensation transform) the offset
469 // get current position in WCS
470 wcs_t pos
= mcs2wcs(machine_position
);
472 if(gcode
->has_letter('X')){
473 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
476 if(gcode
->has_letter('Y')){
477 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
479 if(gcode
->has_letter('Z')) {
480 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
485 // the value is the offset from machine zero
486 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
487 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
488 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
490 if(gcode
->has_letter('X')) x
+= to_millimeters(gcode
->get_value('X'));
491 if(gcode
->has_letter('Y')) y
+= to_millimeters(gcode
->get_value('Y'));
492 if(gcode
->has_letter('Z')) z
+= to_millimeters(gcode
->get_value('Z'));
495 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
500 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
501 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
502 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
503 case 20: this->inch_mode
= true; break;
504 case 21: this->inch_mode
= false; break;
506 case 54: case 55: case 56: case 57: case 58: case 59:
507 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
508 current_wcs
= gcode
->g
- 54;
509 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
510 current_wcs
+= gcode
->subcode
;
511 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
515 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
516 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
519 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
520 // reset G92 offsets to 0
521 g92_offset
= wcs_t(0, 0, 0);
523 } else if(gcode
->subcode
== 3) {
524 // initialize G92 to the specified values, only used for saving it with M500
525 float x
= 0, y
= 0, z
= 0;
526 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
527 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
528 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
529 g92_offset
= wcs_t(x
, y
, z
);
532 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
534 std::tie(x
, y
, z
) = g92_offset
;
535 // get current position in WCS
536 wcs_t pos
= mcs2wcs(machine_position
);
538 // adjust g92 offset to make the current wpos == the value requested
539 if(gcode
->has_letter('X')){
540 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
542 if(gcode
->has_letter('Y')){
543 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
545 if(gcode
->has_letter('Z')) {
546 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
548 g92_offset
= wcs_t(x
, y
, z
);
551 #if MAX_ROBOT_ACTUATORS > 3
552 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
553 // reset the E position, legacy for 3d Printers to be reprap compatible
554 // find the selected extruder
555 int selected_extruder
= get_active_extruder();
556 if(selected_extruder
> 0) {
557 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
558 machine_position
[selected_extruder
]= compensated_machine_position
[selected_extruder
]= e
;
559 actuators
[selected_extruder
]->change_last_milestone(get_e_scale_fnc
? e
*get_e_scale_fnc() : e
);
568 } else if( gcode
->has_m
) {
570 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
571 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
574 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
575 if(!THEKERNEL
->is_grbl_mode()) break;
576 // fall through to M2
577 case 2: // M2 end of program
579 absolute_mode
= true;
582 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
585 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
586 if(gcode
->get_num_args() > 0) {
587 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
589 for (int i
= 0; i
< n_motors
; ++i
) {
590 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
591 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
593 // handle E parameter as currently selected extruder ABC
594 if(gcode
->has_letter('E')) {
595 // find first selected extruder
596 int i
= get_active_extruder();
598 bm
|= (0x02<<i
); // set appropriate bit
602 THEKERNEL
->conveyor
->wait_for_idle();
603 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
608 THEKERNEL
->conveyor
->wait_for_idle();
609 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
612 case 82: e_absolute_mode
= true; break;
613 case 83: e_absolute_mode
= false; break;
615 case 92: // M92 - set steps per mm
616 for (int i
= 0; i
< n_motors
; ++i
) {
617 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
618 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
619 if(gcode
->has_letter(axis
)) {
620 actuators
[i
]->change_steps_per_mm(this->to_millimeters(gcode
->get_value(axis
)));
622 gcode
->stream
->printf("%c:%f ", axis
, actuators
[i
]->get_steps_per_mm());
624 gcode
->add_nl
= true;
625 check_max_actuator_speeds();
630 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
631 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
635 case 120: // push state
639 case 121: // pop state
643 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
644 if(gcode
->get_num_args() == 0) {
645 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
646 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
648 if(gcode
->subcode
== 1) {
649 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
650 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
651 gcode
->stream
->printf(" %c: %g ", 'A' + i
- A_AXIS
, actuators
[i
]->get_max_rate());
655 gcode
->add_nl
= true;
658 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
659 if (gcode
->has_letter('X' + i
)) {
660 float v
= gcode
->get_value('X'+i
);
661 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
662 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
666 if(gcode
->subcode
== 1) {
667 // ABC axis only handle actuator max speeds
668 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
669 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
670 int c
= 'A' + i
- A_AXIS
;
671 if(gcode
->has_letter(c
)) {
672 float v
= gcode
->get_value(c
);
673 actuators
[i
]->set_max_rate(v
);
679 // this format is deprecated
680 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
681 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
682 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
683 if (gcode
->has_letter('A' + i
)) {
684 float v
= gcode
->get_value('A'+i
);
685 actuators
[i
]->set_max_rate(v
);
690 if(gcode
->subcode
== 1) check_max_actuator_speeds();
694 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
695 if (gcode
->has_letter('S')) {
696 float acc
= gcode
->get_value('S'); // mm/s^2
698 if (acc
< 1.0F
) acc
= 1.0F
;
699 this->default_acceleration
= acc
;
701 for (int i
= 0; i
< n_motors
; ++i
) {
702 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
703 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
704 if(gcode
->has_letter(axis
)) {
705 float acc
= gcode
->get_value(axis
); // mm/s^2
707 if (acc
<= 0.0F
) acc
= NAN
;
708 actuators
[i
]->set_acceleration(acc
);
713 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
714 if (gcode
->has_letter('X')) {
715 float jd
= gcode
->get_value('X');
719 THEKERNEL
->planner
->junction_deviation
= jd
;
721 if (gcode
->has_letter('Z')) {
722 float jd
= gcode
->get_value('Z');
723 // enforce minimum, -1 disables it and uses regular junction deviation
726 THEKERNEL
->planner
->z_junction_deviation
= jd
;
728 if (gcode
->has_letter('S')) {
729 float mps
= gcode
->get_value('S');
733 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
737 case 220: // M220 - speed override percentage
738 if (gcode
->has_letter('S')) {
739 float factor
= gcode
->get_value('S');
740 // enforce minimum 10% speed
743 // enforce maximum 10x speed
744 if (factor
> 1000.0F
)
747 seconds_per_minute
= 6000.0F
/ factor
;
749 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
753 case 400: // wait until all moves are done up to this point
754 THEKERNEL
->conveyor
->wait_for_idle();
757 case 500: // M500 saves some volatile settings to config override file
758 case 503: { // M503 just prints the settings
759 gcode
->stream
->printf(";Steps per unit:\nM92 ");
760 for (int i
= 0; i
< n_motors
; ++i
) {
761 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
762 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
763 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_steps_per_mm());
765 gcode
->stream
->printf("\n");
767 // only print if not NAN
768 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
769 for (int i
= 0; i
< n_motors
; ++i
) {
770 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
771 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
772 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_acceleration());
774 gcode
->stream
->printf("\n");
776 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
);
778 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
]);
780 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 ");
781 for (int i
= 0; i
< n_motors
; ++i
) {
782 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
783 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
784 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_max_rate());
786 gcode
->stream
->printf("\n");
788 // get or save any arm solution specific optional values
789 BaseSolution::arm_options_t options
;
790 if(arm_solution
->get_optional(options
) && !options
.empty()) {
791 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
792 for(auto &i
: options
) {
793 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
795 gcode
->stream
->printf("\n");
798 // save wcs_offsets and current_wcs
799 // TODO this may need to be done whenever they change to be compliant
800 gcode
->stream
->printf(";WCS settings\n");
801 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
803 for(auto &i
: wcs_offsets
) {
804 if(i
!= wcs_t(0, 0, 0)) {
806 std::tie(x
, y
, z
) = i
;
807 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
812 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
813 // 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
814 if(g92_offset
!= wcs_t(0, 0, 0)) {
816 std::tie(x
, y
, z
) = g92_offset
;
817 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
823 case 665: { // M665 set optional arm solution variables based on arm solution.
824 // the parameter args could be any letter each arm solution only accepts certain ones
825 BaseSolution::arm_options_t options
= gcode
->get_args();
826 options
.erase('S'); // don't include the S
827 options
.erase('U'); // don't include the U
828 if(options
.size() > 0) {
829 // set the specified options
830 arm_solution
->set_optional(options
);
833 if(arm_solution
->get_optional(options
)) {
834 // foreach optional value
835 for(auto &i
: options
) {
836 // print all current values of supported options
837 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
838 gcode
->add_nl
= true;
842 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
843 this->delta_segments_per_second
= gcode
->get_value('S');
844 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
846 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
847 this->mm_per_line_segment
= gcode
->get_value('U');
848 this->delta_segments_per_second
= 0;
849 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
857 if( motion_mode
!= NONE
) {
858 is_g123
= motion_mode
!= SEEK
;
859 process_move(gcode
, motion_mode
);
865 next_command_is_MCS
= false; // must be on same line as G0 or G1
868 int Robot::get_active_extruder() const
870 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
871 // find first selected extruder
872 if(actuators
[i
]->is_extruder() && actuators
[i
]->is_selected()) return i
;
877 // process a G0/G1/G2/G3
878 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
880 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
881 // get XYZ and one E (which goes to the selected extruder)
882 float param
[4]{NAN
, NAN
, NAN
, NAN
};
884 // process primary axis
885 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
887 if( gcode
->has_letter(letter
) ) {
888 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
892 float offset
[3]{0,0,0};
893 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
894 if( gcode
->has_letter(letter
) ) {
895 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
899 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
900 float target
[n_motors
];
901 memcpy(target
, machine_position
, n_motors
*sizeof(float));
903 if(!next_command_is_MCS
) {
904 if(this->absolute_mode
) {
905 // apply wcs offsets and g92 offset and tool offset
906 if(!isnan(param
[X_AXIS
])) {
907 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
);
910 if(!isnan(param
[Y_AXIS
])) {
911 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
);
914 if(!isnan(param
[Z_AXIS
])) {
915 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
);
919 // they are deltas from the machine_position if specified
920 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
921 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
926 // already in machine coordinates, we do not add tool offset for that
927 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
928 if(!isnan(param
[i
])) target
[i
] = param
[i
];
934 #if MAX_ROBOT_ACTUATORS > 3
935 // process extruder parameters, for active extruder only (only one active extruder at a time)
936 int selected_extruder
= 0;
937 if(gcode
->has_letter('E')) {
938 selected_extruder
= get_active_extruder();
939 param
[E_AXIS
]= gcode
->get_value('E');
942 // do E for the selected extruder
943 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
944 if(this->e_absolute_mode
) {
945 target
[selected_extruder
]= param
[E_AXIS
];
946 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
948 delta_e
= param
[E_AXIS
];
949 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
953 // 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
954 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
955 char letter
= 'A'+i
-A_AXIS
;
956 if(gcode
->has_letter(letter
)) {
957 float p
= gcode
->get_value(letter
);
958 if(this->absolute_mode
) {
961 target
[i
]= p
+ machine_position
[i
];
967 if( gcode
->has_letter('F') ) {
968 if( motion_mode
== SEEK
)
969 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
971 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
974 // S is modal When specified on a G0/1/2/3 command
975 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
979 // Perform any physical actions
980 switch(motion_mode
) {
984 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
988 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
993 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
994 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
999 // set machine_position to the calculated target
1000 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1004 // reset the machine position for all axis. Used for homing.
1005 // after homing we supply the cartesian coordinates that the head is at when homed,
1006 // however for Z this is the compensated machine position (if enabled)
1007 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
1008 // this will make the results from M114 and ? consistent after homing.
1009 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
1010 void Robot::reset_axis_position(float x
, float y
, float z
)
1012 // set both the same initially
1013 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
1014 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
1015 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
1017 if(compensationTransform
) {
1018 // apply inverse transform to get machine_position
1019 compensationTransform(machine_position
, true);
1022 // now set the actuator positions based on the supplied compensated position
1023 ActuatorCoordinates actuator_pos
;
1024 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
1025 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
1026 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1029 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
1030 void Robot::reset_axis_position(float position
, int axis
)
1032 compensated_machine_position
[axis
] = position
;
1033 if(axis
<= Z_AXIS
) {
1034 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
1036 #if MAX_ROBOT_ACTUATORS > 3
1037 }else if(axis
< n_motors
) {
1038 // ABC and/or extruders need to be set as there is no arm solution for them
1039 machine_position
[axis
]= compensated_machine_position
[axis
]= position
;
1040 actuators
[axis
]->change_last_milestone(machine_position
[axis
]);
1045 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
1046 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
1047 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
1049 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1050 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
1053 // now correct axis positions then recorrect actuator to account for rounding
1054 reset_position_from_current_actuator_position();
1057 // Use FK to find out where actuator is and reset to match
1058 // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
1059 void Robot::reset_position_from_current_actuator_position()
1061 ActuatorCoordinates actuator_pos
;
1062 for (size_t i
= X_AXIS
; i
< n_motors
; i
++) {
1063 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
1064 actuator_pos
[i
] = actuators
[i
]->get_current_position();
1067 // discover machine position from where actuators actually are
1068 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
1069 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
1071 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
1072 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
1074 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
1075 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
1076 // to get everything in perfect sync.
1077 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
1078 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1079 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1082 // Handle extruders and/or ABC axis
1083 #if MAX_ROBOT_ACTUATORS > 3
1084 for (int i
= A_AXIS
; i
< n_motors
; i
++) {
1085 // ABC and/or extruders just need to set machine_position and compensated_machine_position
1086 float ap
= actuator_pos
[i
];
1087 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
1088 machine_position
[i
]= compensated_machine_position
[i
]= ap
;
1089 actuators
[i
]->change_last_milestone(actuator_pos
[i
]); // this updates the last_milestone in the actuator
1094 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
1095 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
1096 // all transforms and is what we actually convert to actuator positions
1097 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
1099 float deltas
[n_motors
];
1100 float transformed_target
[n_motors
]; // adjust target for bed compensation
1101 float unit_vec
[N_PRIMARY_AXIS
];
1103 // unity transform by default
1104 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
1106 // check function pointer and call if set to transform the target to compensate for bed
1107 if(compensationTransform
) {
1108 // some compensation strategies can transform XYZ, some just change Z
1109 compensationTransform(transformed_target
, false);
1113 float sos
= 0; // sum of squares for just primary axis (XYZ usually)
1115 // find distance moved by each axis, use transformed target from the current compensated machine position
1116 for (size_t i
= 0; i
< n_motors
; i
++) {
1117 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
1118 if(deltas
[i
] == 0) continue;
1119 // at least one non zero delta
1121 if(i
< N_PRIMARY_AXIS
) {
1122 sos
+= powf(deltas
[i
], 2);
1127 if(!move
) return false;
1129 // see if this is a primary axis move or not
1130 bool auxilliary_move
= true;
1131 for (int i
= 0; i
< N_PRIMARY_AXIS
; ++i
) {
1132 if(deltas
[i
] != 0) {
1133 auxilliary_move
= false;
1138 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
1139 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
1141 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1142 // 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
1143 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1146 if(!auxilliary_move
) {
1147 for (size_t i
= X_AXIS
; i
< N_PRIMARY_AXIS
; i
++) {
1148 // find distance unit vector for primary axis only
1149 unit_vec
[i
] = deltas
[i
] / distance
;
1151 // Do not move faster than the configured cartesian limits for XYZ
1152 if ( max_speeds
[i
] > 0 ) {
1153 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1155 if (axis_speed
> max_speeds
[i
])
1156 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1161 // find actuator position given the machine position, use actual adjusted target
1162 ActuatorCoordinates actuator_pos
;
1163 if(!disable_arm_solution
) {
1164 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1167 // basically the same as cartesian, would be used for special homing situations like for scara
1168 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1169 actuator_pos
[i
] = transformed_target
[i
];
1173 #if MAX_ROBOT_ACTUATORS > 3
1175 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1176 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1177 actuator_pos
[i
]= transformed_target
[i
];
1178 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) {
1179 // NOTE this relies on the fact only one extruder is active at a time
1180 // scale for volumetric or flow rate
1181 // TODO is this correct? scaling the absolute target? what if the scale changes?
1182 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1183 actuator_pos
[i
] *= get_e_scale_fnc();
1185 if(auxilliary_move
) {
1186 // for E only moves we need to use the scaled E to calculate the distance
1187 sos
+= powf(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1190 if(auxilliary_move
) {
1191 distance
= sqrtf(sos
); // distance in mm of the e move
1192 if(distance
< 0.00001F
) return false;
1196 // use default acceleration to start with
1197 float acceleration
= default_acceleration
;
1199 float isecs
= rate_mm_s
/ distance
;
1201 // check per-actuator speed limits
1202 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1203 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1204 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1206 float actuator_rate
= d
* isecs
;
1207 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1208 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1209 isecs
= rate_mm_s
/ distance
;
1212 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1213 // 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.
1214 if(auxilliary_move
|| actuator
< N_PRIMARY_AXIS
) {
1215 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1216 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1217 float ca
= fabsf((d
/distance
) * acceleration
);
1219 acceleration
*= ( ma
/ ca
);
1225 // Append the block to the planner
1226 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1227 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1228 // this is the new compensated machine position
1229 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1237 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1238 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1240 if(THEKERNEL
->is_halted()) return false;
1242 // catch negative or zero feed rates
1243 if(rate_mm_s
<= 0.0F
) {
1247 // get the absolute target position, default is current machine_position
1248 float target
[n_motors
];
1249 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1251 // add in the deltas to get new target
1252 for (int i
= 0; i
< naxis
; i
++) {
1253 target
[i
] += delta
[i
];
1256 // submit for planning and if moved update machine_position
1257 if(append_milestone(target
, rate_mm_s
)) {
1258 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1265 // Append a move to the queue ( cutting it into segments if needed )
1266 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1268 // catch negative or zero feed rates and return the same error as GRBL does
1269 if(rate_mm_s
<= 0.0F
) {
1270 gcode
->is_error
= true;
1271 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1275 // Find out the distance for this move in XYZ in MCS
1276 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 ));
1278 if(millimeters_of_travel
< 0.00001F
) {
1279 // we have no movement in XYZ, probably E only extrude or retract
1280 return this->append_milestone(target
, rate_mm_s
);
1284 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1285 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1286 We ask Extruder to do all the work but we need to pass in the relevant data.
1287 NOTE we need to do this before we segment the line (for deltas)
1289 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1290 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1291 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1292 rate_mm_s
*= data
[1]; // adjust the feedrate
1296 // 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.
1297 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1298 // 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
1301 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1304 } else if(this->delta_segments_per_second
> 1.0F
) {
1305 // enabled if set to something > 1, it is set to 0.0 by default
1306 // segment based on current speed and requested segments per second
1307 // the faster the travel speed the fewer segments needed
1308 // NOTE rate is mm/sec and we take into account any speed override
1309 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1310 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1311 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1314 if(this->mm_per_line_segment
== 0.0F
) {
1315 segments
= 1; // don't split it up
1317 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1323 // A vector to keep track of the endpoint of each segment
1324 float segment_delta
[n_motors
];
1325 float segment_end
[n_motors
];
1326 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1328 // How far do we move each segment?
1329 for (int i
= 0; i
< n_motors
; i
++)
1330 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1332 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1333 // We always add another point after this loop so we stop at segments-1, ie i < segments
1334 for (int i
= 1; i
< segments
; i
++) {
1335 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1336 for (int i
= 0; i
< n_motors
; i
++)
1337 segment_end
[i
] += segment_delta
[i
];
1339 // Append the end of this segment to the queue
1340 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1345 // Append the end of this full move to the queue
1346 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1348 this->next_command_is_MCS
= false; // always reset this
1354 // Append an arc to the queue ( cutting it into segments as needed )
1355 // TODO does not support any E parameters so cannot be used for 3D printing.
1356 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1358 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
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");
1367 float center_axis0
= this->machine_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1368 float center_axis1
= this->machine_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1369 float linear_travel
= target
[this->plane_axis_2
] - this->machine_position
[this->plane_axis_2
];
1370 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1371 float r_axis1
= -offset
[this->plane_axis_1
];
1372 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1373 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1375 // Patch from GRBL Firmware - Christoph Baumann 04072015
1376 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1377 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1378 if (is_clockwise
) { // Correct atan2 output per direction
1379 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1381 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1384 // Find the distance for this gcode
1385 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1387 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1388 if( millimeters_of_travel
< 0.00001F
) {
1392 // limit segments by maximum arc error
1393 float arc_segment
= this->mm_per_arc_segment
;
1394 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1395 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1396 if (this->mm_per_arc_segment
< min_err_segment
) {
1397 arc_segment
= min_err_segment
;
1400 // Figure out how many segments for this gcode
1401 // 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
1402 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1404 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1405 float theta_per_segment
= angular_travel
/ segments
;
1406 float linear_per_segment
= linear_travel
/ segments
;
1408 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1409 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1410 r_T = [cos(phi) -sin(phi);
1411 sin(phi) cos(phi] * r ;
1412 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1413 defined from the circle center to the initial position. Each line segment is formed by successive
1414 vector rotations. This requires only two cos() and sin() computations to form the rotation
1415 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1416 all float numbers are single precision on the Arduino. (True float precision will not have
1417 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1418 tool precision in some cases. Therefore, arc path correction is implemented.
1420 Small angle approximation may be used to reduce computation overhead further. This approximation
1421 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1422 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1423 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1424 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1425 issue for CNC machines with the single precision Arduino calculations.
1426 This approximation also allows mc_arc to immediately insert a line segment into the planner
1427 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1428 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1429 This is important when there are successive arc motions.
1431 // Vector rotation matrix values
1432 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1433 float sin_T
= theta_per_segment
;
1435 // TODO we need to handle the ABC axis here by segmenting them
1436 float arc_target
[3];
1443 // Initialize the linear axis
1444 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1447 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1448 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1450 if (count
< this->arc_correction
) {
1451 // Apply vector rotation matrix
1452 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1453 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1457 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1458 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1459 cos_Ti
= cosf(i
* theta_per_segment
);
1460 sin_Ti
= sinf(i
* theta_per_segment
);
1461 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1462 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1466 // Update arc_target location
1467 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1468 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1469 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1471 // Append this segment to the queue
1472 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1476 // Ensure last segment arrives at target location.
1477 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1482 // Do the math for an arc and add it to the queue
1483 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1487 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1489 // Set clockwise/counter-clockwise sign for mc_arc computations
1490 bool is_clockwise
= false;
1491 if( motion_mode
== CW_ARC
) {
1492 is_clockwise
= true;
1496 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1500 float Robot::theta(float x
, float y
)
1502 float t
= atanf(x
/ fabs(y
));
1514 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1516 this->plane_axis_0
= axis_0
;
1517 this->plane_axis_1
= axis_1
;
1518 this->plane_axis_2
= axis_2
;
1521 void Robot::clearToolOffset()
1523 this->tool_offset
= wcs_t(0,0,0);
1526 void Robot::setToolOffset(const float offset
[3])
1528 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1531 float Robot::get_feed_rate() const
1533 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;