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() || !pins
[2].connected()) {
223 if(a
<= Z_AXIS
) THEKERNEL
->streams
->printf("FATAL: motor %d is not defined in config\n", 'X'+a
);
224 break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order)
227 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
228 // register this motor (NB This must be 0,1,2) of the actuators array
229 uint8_t n
= register_motor(sm
);
231 // this is a fatal error
232 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
236 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
237 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
238 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
241 check_max_actuator_speeds(); // check the configs are sane
243 // if we have not specified a z acceleration see if the legacy config was set
244 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
245 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
247 actuators
[Z_AXIS
]->set_acceleration(acc
);
251 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
252 // so the first move can be correct if homing is not performed
253 ActuatorCoordinates actuator_pos
;
254 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
255 for (size_t i
= 0; i
< n_motors
; i
++)
256 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
258 //this->clearToolOffset();
261 uint8_t Robot::register_motor(StepperMotor
*motor
)
263 // register this motor with the step ticker
264 THEKERNEL
->step_ticker
->register_motor(motor
);
265 if(n_motors
>= k_max_actuators
) {
266 // this is a fatal error
267 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
270 actuators
.push_back(motor
);
271 motor
->set_motor_id(n_motors
);
275 void Robot::push_state()
277 bool am
= this->absolute_mode
;
278 bool em
= this->e_absolute_mode
;
279 bool im
= this->inch_mode
;
280 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
284 void Robot::pop_state()
286 if(!state_stack
.empty()) {
287 auto s
= state_stack
.top();
289 this->feed_rate
= std::get
<0>(s
);
290 this->seek_rate
= std::get
<1>(s
);
291 this->absolute_mode
= std::get
<2>(s
);
292 this->e_absolute_mode
= std::get
<3>(s
);
293 this->inch_mode
= std::get
<4>(s
);
294 this->current_wcs
= std::get
<5>(s
);
298 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
300 std::vector
<wcs_t
> v
;
301 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
302 for(auto& i
: wcs_offsets
) {
305 v
.push_back(g92_offset
);
306 v
.push_back(tool_offset
);
310 void Robot::get_current_machine_position(float *pos
) const
312 // get real time current actuator position in mm
313 ActuatorCoordinates current_position
{
314 actuators
[X_AXIS
]->get_current_position(),
315 actuators
[Y_AXIS
]->get_current_position(),
316 actuators
[Z_AXIS
]->get_current_position()
319 // get machine position from the actuator position using FK
320 arm_solution
->actuator_to_cartesian(current_position
, pos
);
323 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
325 // M114.1 is a new way to do this (similar to how GRBL does it).
326 // it returns the realtime position based on the current step position of the actuators.
327 // this does require a FK to get a machine position from the actuator position
328 // and then invert all the transforms to get a workspace position from machine position
329 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
331 if(subcode
== 0) { // M114 print WCS
332 wcs_t pos
= mcs2wcs(machine_position
);
333 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
)));
335 } else if(subcode
== 4) {
336 // M114.4 print last milestone
337 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
]);
339 } else if(subcode
== 5) {
340 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
341 // will differ from LMS by the compensation at the current position otherwise
342 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
]);
345 // get real time positions
347 get_current_machine_position(mpos
);
349 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
350 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
352 if(subcode
== 1) { // M114.1 print realtime WCS
353 wcs_t pos
= mcs2wcs(mpos
);
354 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
)));
356 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
357 n
= snprintf(buf
, bufsize
, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
359 } else if(subcode
== 3) { // M114.3 print realtime actuator position
360 // get real time current actuator position in mm
361 ActuatorCoordinates current_position
{
362 actuators
[X_AXIS
]->get_current_position(),
363 actuators
[Y_AXIS
]->get_current_position(),
364 actuators
[Z_AXIS
]->get_current_position()
366 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
]);
370 #if MAX_ROBOT_ACTUATORS > 3
371 // deal with the ABC axis
372 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
373 if(actuators
[i
]->is_extruder()) continue; // don't show an extruder as that will be E
374 if(subcode
== 4) { // M114.4 print last milestone
375 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, machine_position
[i
]);
377 }else if(subcode
== 2 || subcode
== 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC
378 // current actuator position
379 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, actuators
[i
]->get_current_position());
387 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
388 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
390 return std::make_tuple(
391 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
),
392 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
),
393 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
)
397 // this does a sanity check that actuator speeds do not exceed steps rate capability
398 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
399 void Robot::check_max_actuator_speeds()
401 for (size_t i
= 0; i
< n_motors
; i
++) {
402 if(actuators
[i
]->is_extruder()) continue; //extruders are not included in this check
404 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
405 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
406 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
407 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());
412 //A GCode has been received
413 //See if the current Gcode line has some orders for us
414 void Robot::on_gcode_received(void *argument
)
416 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
418 enum MOTION_MODE_T motion_mode
= NONE
;
422 case 0: motion_mode
= SEEK
; break;
423 case 1: motion_mode
= LINEAR
; break;
424 case 2: motion_mode
= CW_ARC
; break;
425 case 3: motion_mode
= CCW_ARC
; break;
426 case 4: { // G4 Dwell
427 uint32_t delay_ms
= 0;
428 if (gcode
->has_letter('P')) {
429 if(THEKERNEL
->is_grbl_mode()) {
430 // in grbl mode (and linuxcnc) P is decimal seconds
431 float f
= gcode
->get_value('P');
432 delay_ms
= f
* 1000.0F
;
435 // in reprap P is milliseconds, they always have to be different!
436 delay_ms
= gcode
->get_int('P');
439 if (gcode
->has_letter('S')) {
440 delay_ms
+= gcode
->get_int('S') * 1000;
444 THEKERNEL
->conveyor
->wait_for_idle();
445 // wait for specified time
446 uint32_t start
= us_ticker_read(); // mbed call
447 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
448 THEKERNEL
->call_event(ON_IDLE
, this);
449 if(THEKERNEL
->is_halted()) return;
455 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
456 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
457 size_t n
= gcode
->get_uint('P');
458 if(n
== 0) n
= current_wcs
; // set current coordinate system
462 std::tie(x
, y
, z
) = wcs_offsets
[n
];
463 if(gcode
->get_int('L') == 20) {
464 // this makes the current machine position (less compensation transform) the offset
465 // get current position in WCS
466 wcs_t pos
= mcs2wcs(machine_position
);
468 if(gcode
->has_letter('X')){
469 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
472 if(gcode
->has_letter('Y')){
473 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
475 if(gcode
->has_letter('Z')) {
476 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
481 // the value is the offset from machine zero
482 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
483 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
484 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
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'));
491 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
496 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
497 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
498 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
499 case 20: this->inch_mode
= true; break;
500 case 21: this->inch_mode
= false; break;
502 case 54: case 55: case 56: case 57: case 58: case 59:
503 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
504 current_wcs
= gcode
->g
- 54;
505 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
506 current_wcs
+= gcode
->subcode
;
507 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
511 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
512 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
515 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
516 // reset G92 offsets to 0
517 g92_offset
= wcs_t(0, 0, 0);
519 } else if(gcode
->subcode
== 3) {
520 // initialize G92 to the specified values, only used for saving it with M500
521 float x
= 0, y
= 0, z
= 0;
522 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
523 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
524 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
525 g92_offset
= wcs_t(x
, y
, z
);
528 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
530 std::tie(x
, y
, z
) = g92_offset
;
531 // get current position in WCS
532 wcs_t pos
= mcs2wcs(machine_position
);
534 // adjust g92 offset to make the current wpos == the value requested
535 if(gcode
->has_letter('X')){
536 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
538 if(gcode
->has_letter('Y')){
539 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
541 if(gcode
->has_letter('Z')) {
542 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
544 g92_offset
= wcs_t(x
, y
, z
);
547 #if MAX_ROBOT_ACTUATORS > 3
548 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
549 // reset the E position, legacy for 3d Printers to be reprap compatible
550 // find the selected extruder
551 int selected_extruder
= get_active_extruder();
552 if(selected_extruder
> 0) {
553 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
554 machine_position
[selected_extruder
]= compensated_machine_position
[selected_extruder
]= e
;
555 actuators
[selected_extruder
]->change_last_milestone(get_e_scale_fnc
? e
*get_e_scale_fnc() : e
);
564 } else if( gcode
->has_m
) {
566 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
567 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
570 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
571 if(!THEKERNEL
->is_grbl_mode()) break;
572 // fall through to M2
573 case 2: // M2 end of program
575 absolute_mode
= true;
578 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
581 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
582 if(gcode
->get_num_args() > 0) {
583 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
585 for (int i
= 0; i
< n_motors
; ++i
) {
586 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
587 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
589 // handle E parameter as currently selected extruder ABC
590 if(gcode
->has_letter('E')) {
591 // find first selected extruder
592 int i
= get_active_extruder();
594 bm
|= (0x02<<i
); // set appropriate bit
598 THEKERNEL
->conveyor
->wait_for_idle();
599 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
604 THEKERNEL
->conveyor
->wait_for_idle();
605 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
608 case 82: e_absolute_mode
= true; break;
609 case 83: e_absolute_mode
= false; break;
611 case 92: // M92 - set steps per mm
612 for (int i
= 0; i
< n_motors
; ++i
) {
613 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
614 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
615 if(gcode
->has_letter(axis
)) {
616 actuators
[i
]->change_steps_per_mm(this->to_millimeters(gcode
->get_value(axis
)));
618 gcode
->stream
->printf("%c:%f ", axis
, actuators
[i
]->get_steps_per_mm());
620 gcode
->add_nl
= true;
621 check_max_actuator_speeds();
626 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
627 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
631 case 120: // push state
635 case 121: // pop state
639 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
640 if(gcode
->get_num_args() == 0) {
641 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
642 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
644 if(gcode
->subcode
== 1) {
645 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
646 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
647 gcode
->stream
->printf(" %c: %g ", 'A' + i
- A_AXIS
, actuators
[i
]->get_max_rate());
651 gcode
->add_nl
= true;
654 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
655 if (gcode
->has_letter('X' + i
)) {
656 float v
= gcode
->get_value('X'+i
);
657 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
658 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
662 if(gcode
->subcode
== 1) {
663 // ABC axis only handle actuator max speeds
664 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
665 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
666 int c
= 'A' + i
- A_AXIS
;
667 if(gcode
->has_letter(c
)) {
668 float v
= gcode
->get_value(c
);
669 actuators
[i
]->set_max_rate(v
);
675 // this format is deprecated
676 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
677 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
678 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
679 if (gcode
->has_letter('A' + i
)) {
680 float v
= gcode
->get_value('A'+i
);
681 actuators
[i
]->set_max_rate(v
);
686 if(gcode
->subcode
== 1) check_max_actuator_speeds();
690 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
691 if (gcode
->has_letter('S')) {
692 float acc
= gcode
->get_value('S'); // mm/s^2
694 if (acc
< 1.0F
) acc
= 1.0F
;
695 this->default_acceleration
= acc
;
697 for (int i
= 0; i
< n_motors
; ++i
) {
698 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
699 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
700 if(gcode
->has_letter(axis
)) {
701 float acc
= gcode
->get_value(axis
); // mm/s^2
703 if (acc
<= 0.0F
) acc
= NAN
;
704 actuators
[i
]->set_acceleration(acc
);
709 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
710 if (gcode
->has_letter('X')) {
711 float jd
= gcode
->get_value('X');
715 THEKERNEL
->planner
->junction_deviation
= jd
;
717 if (gcode
->has_letter('Z')) {
718 float jd
= gcode
->get_value('Z');
719 // enforce minimum, -1 disables it and uses regular junction deviation
722 THEKERNEL
->planner
->z_junction_deviation
= jd
;
724 if (gcode
->has_letter('S')) {
725 float mps
= gcode
->get_value('S');
729 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
733 case 220: // M220 - speed override percentage
734 if (gcode
->has_letter('S')) {
735 float factor
= gcode
->get_value('S');
736 // enforce minimum 10% speed
739 // enforce maximum 10x speed
740 if (factor
> 1000.0F
)
743 seconds_per_minute
= 6000.0F
/ factor
;
745 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
749 case 400: // wait until all moves are done up to this point
750 THEKERNEL
->conveyor
->wait_for_idle();
753 case 500: // M500 saves some volatile settings to config override file
754 case 503: { // M503 just prints the settings
755 gcode
->stream
->printf(";Steps per unit:\nM92 ");
756 for (int i
= 0; i
< n_motors
; ++i
) {
757 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
758 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
759 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_steps_per_mm());
761 gcode
->stream
->printf("\n");
763 // only print if not NAN
764 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
765 for (int i
= 0; i
< n_motors
; ++i
) {
766 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
767 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
768 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_acceleration());
770 gcode
->stream
->printf("\n");
772 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
);
774 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
]);
776 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 ");
777 for (int i
= 0; i
< n_motors
; ++i
) {
778 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
779 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
780 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_max_rate());
782 gcode
->stream
->printf("\n");
784 // get or save any arm solution specific optional values
785 BaseSolution::arm_options_t options
;
786 if(arm_solution
->get_optional(options
) && !options
.empty()) {
787 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
788 for(auto &i
: options
) {
789 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
791 gcode
->stream
->printf("\n");
794 // save wcs_offsets and current_wcs
795 // TODO this may need to be done whenever they change to be compliant
796 gcode
->stream
->printf(";WCS settings\n");
797 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
799 for(auto &i
: wcs_offsets
) {
800 if(i
!= wcs_t(0, 0, 0)) {
802 std::tie(x
, y
, z
) = i
;
803 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
808 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
809 // 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
810 if(g92_offset
!= wcs_t(0, 0, 0)) {
812 std::tie(x
, y
, z
) = g92_offset
;
813 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
819 case 665: { // M665 set optional arm solution variables based on arm solution.
820 // the parameter args could be any letter each arm solution only accepts certain ones
821 BaseSolution::arm_options_t options
= gcode
->get_args();
822 options
.erase('S'); // don't include the S
823 options
.erase('U'); // don't include the U
824 if(options
.size() > 0) {
825 // set the specified options
826 arm_solution
->set_optional(options
);
829 if(arm_solution
->get_optional(options
)) {
830 // foreach optional value
831 for(auto &i
: options
) {
832 // print all current values of supported options
833 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
834 gcode
->add_nl
= true;
838 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
839 this->delta_segments_per_second
= gcode
->get_value('S');
840 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
842 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
843 this->mm_per_line_segment
= gcode
->get_value('U');
844 this->delta_segments_per_second
= 0;
845 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
853 if( motion_mode
!= NONE
) {
854 is_g123
= motion_mode
!= SEEK
;
855 process_move(gcode
, motion_mode
);
861 next_command_is_MCS
= false; // must be on same line as G0 or G1
864 int Robot::get_active_extruder() const
866 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
867 // find first selected extruder
868 if(actuators
[i
]->is_extruder() && actuators
[i
]->is_selected()) return i
;
873 // process a G0/G1/G2/G3
874 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
876 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
877 // get XYZ and one E (which goes to the selected extruder)
878 float param
[4]{NAN
, NAN
, NAN
, NAN
};
880 // process primary axis
881 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
883 if( gcode
->has_letter(letter
) ) {
884 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
888 float offset
[3]{0,0,0};
889 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
890 if( gcode
->has_letter(letter
) ) {
891 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
895 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
896 float target
[n_motors
];
897 memcpy(target
, machine_position
, n_motors
*sizeof(float));
899 if(!next_command_is_MCS
) {
900 if(this->absolute_mode
) {
901 // apply wcs offsets and g92 offset and tool offset
902 if(!isnan(param
[X_AXIS
])) {
903 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
);
906 if(!isnan(param
[Y_AXIS
])) {
907 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
);
910 if(!isnan(param
[Z_AXIS
])) {
911 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
);
915 // they are deltas from the machine_position if specified
916 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
917 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
922 // already in machine coordinates, we do not add tool offset for that
923 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
924 if(!isnan(param
[i
])) target
[i
] = param
[i
];
930 #if MAX_ROBOT_ACTUATORS > 3
931 // process extruder parameters, for active extruder only (only one active extruder at a time)
932 int selected_extruder
= 0;
933 if(gcode
->has_letter('E')) {
934 selected_extruder
= get_active_extruder();
935 param
[E_AXIS
]= gcode
->get_value('E');
938 // do E for the selected extruder
939 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
940 if(this->e_absolute_mode
) {
941 target
[selected_extruder
]= param
[E_AXIS
];
942 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
944 delta_e
= param
[E_AXIS
];
945 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
949 // 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
950 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
951 char letter
= 'A'+i
-A_AXIS
;
952 if(gcode
->has_letter(letter
)) {
953 float p
= gcode
->get_value(letter
);
954 if(this->absolute_mode
) {
957 target
[i
]= p
+ machine_position
[i
];
963 if( gcode
->has_letter('F') ) {
964 if( motion_mode
== SEEK
)
965 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
967 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
970 // S is modal When specified on a G0/1/2/3 command
971 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
975 // Perform any physical actions
976 switch(motion_mode
) {
980 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
984 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
989 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
990 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
995 // set machine_position to the calculated target
996 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1000 // reset the machine position for all axis. Used for homing.
1001 // after homing we supply the cartesian coordinates that the head is at when homed,
1002 // however for Z this is the compensated machine position (if enabled)
1003 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
1004 // this will make the results from M114 and ? consistent after homing.
1005 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
1006 void Robot::reset_axis_position(float x
, float y
, float z
)
1008 // set both the same initially
1009 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
1010 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
1011 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
1013 if(compensationTransform
) {
1014 // apply inverse transform to get machine_position
1015 compensationTransform(machine_position
, true);
1018 // now set the actuator positions based on the supplied compensated position
1019 ActuatorCoordinates actuator_pos
;
1020 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
1021 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
1022 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1025 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
1026 void Robot::reset_axis_position(float position
, int axis
)
1028 compensated_machine_position
[axis
] = position
;
1029 if(axis
<= Z_AXIS
) {
1030 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
1032 #if MAX_ROBOT_ACTUATORS > 3
1033 }else if(axis
< n_motors
) {
1034 // ABC and/or extruders need to be set as there is no arm solution for them
1035 machine_position
[axis
]= compensated_machine_position
[axis
]= position
;
1036 actuators
[axis
]->change_last_milestone(machine_position
[axis
]);
1041 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
1042 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
1043 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
1045 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1046 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
1049 // now correct axis positions then recorrect actuator to account for rounding
1050 reset_position_from_current_actuator_position();
1053 // Use FK to find out where actuator is and reset to match
1054 // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
1055 void Robot::reset_position_from_current_actuator_position()
1057 ActuatorCoordinates actuator_pos
;
1058 for (size_t i
= X_AXIS
; i
< n_motors
; i
++) {
1059 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
1060 actuator_pos
[i
] = actuators
[i
]->get_current_position();
1063 // discover machine position from where actuators actually are
1064 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
1065 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
1067 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
1068 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
1070 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
1071 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
1072 // to get everything in perfect sync.
1073 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
1074 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1075 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1078 // Handle extruders and/or ABC axis
1079 #if MAX_ROBOT_ACTUATORS > 3
1080 for (int i
= A_AXIS
; i
< n_motors
; i
++) {
1081 // ABC and/or extruders just need to set machine_position and compensated_machine_position
1082 float ap
= actuator_pos
[i
];
1083 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
1084 machine_position
[i
]= compensated_machine_position
[i
]= ap
;
1085 actuators
[i
]->change_last_milestone(actuator_pos
[i
]); // this updates the last_milestone in the actuator
1090 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
1091 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
1092 // all transforms and is what we actually convert to actuator positions
1093 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
1095 float deltas
[n_motors
];
1096 float transformed_target
[n_motors
]; // adjust target for bed compensation
1097 float unit_vec
[N_PRIMARY_AXIS
];
1099 // unity transform by default
1100 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
1102 // check function pointer and call if set to transform the target to compensate for bed
1103 if(compensationTransform
) {
1104 // some compensation strategies can transform XYZ, some just change Z
1105 compensationTransform(transformed_target
, false);
1109 float sos
= 0; // sum of squares for just primary axis (XYZ usually)
1111 // find distance moved by each axis, use transformed target from the current compensated machine position
1112 for (size_t i
= 0; i
< n_motors
; i
++) {
1113 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
1114 if(deltas
[i
] == 0) continue;
1115 // at least one non zero delta
1117 if(i
< N_PRIMARY_AXIS
) {
1118 sos
+= powf(deltas
[i
], 2);
1123 if(!move
) return false;
1125 // see if this is a primary axis move or not
1126 bool auxilliary_move
= true;
1127 for (int i
= 0; i
< N_PRIMARY_AXIS
; ++i
) {
1128 if(deltas
[i
] != 0) {
1129 auxilliary_move
= false;
1134 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
1135 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
1137 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1138 // 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
1139 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1142 if(!auxilliary_move
) {
1143 for (size_t i
= X_AXIS
; i
< N_PRIMARY_AXIS
; i
++) {
1144 // find distance unit vector for primary axis only
1145 unit_vec
[i
] = deltas
[i
] / distance
;
1147 // Do not move faster than the configured cartesian limits for XYZ
1148 if ( max_speeds
[i
] > 0 ) {
1149 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1151 if (axis_speed
> max_speeds
[i
])
1152 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1157 // find actuator position given the machine position, use actual adjusted target
1158 ActuatorCoordinates actuator_pos
;
1159 if(!disable_arm_solution
) {
1160 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1163 // basically the same as cartesian, would be used for special homing situations like for scara
1164 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1165 actuator_pos
[i
] = transformed_target
[i
];
1169 #if MAX_ROBOT_ACTUATORS > 3
1171 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1172 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1173 actuator_pos
[i
]= transformed_target
[i
];
1174 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) {
1175 // NOTE this relies on the fact only one extruder is active at a time
1176 // scale for volumetric or flow rate
1177 // TODO is this correct? scaling the absolute target? what if the scale changes?
1178 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1179 actuator_pos
[i
] *= get_e_scale_fnc();
1181 if(auxilliary_move
) {
1182 // for E only moves we need to use the scaled E to calculate the distance
1183 sos
+= powf(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1186 if(auxilliary_move
) {
1187 distance
= sqrtf(sos
); // distance in mm of the e move
1188 if(distance
< 0.00001F
) return false;
1192 // use default acceleration to start with
1193 float acceleration
= default_acceleration
;
1195 float isecs
= rate_mm_s
/ distance
;
1197 // check per-actuator speed limits
1198 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1199 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1200 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1202 float actuator_rate
= d
* isecs
;
1203 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1204 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1205 isecs
= rate_mm_s
/ distance
;
1208 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1209 // 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.
1210 if(auxilliary_move
|| actuator
< N_PRIMARY_AXIS
) {
1211 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1212 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1213 float ca
= fabsf((d
/distance
) * acceleration
);
1215 acceleration
*= ( ma
/ ca
);
1221 // Append the block to the planner
1222 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1223 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1224 // this is the new compensated machine position
1225 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1233 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1234 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1236 if(THEKERNEL
->is_halted()) return false;
1238 // catch negative or zero feed rates
1239 if(rate_mm_s
<= 0.0F
) {
1243 // get the absolute target position, default is current machine_position
1244 float target
[n_motors
];
1245 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1247 // add in the deltas to get new target
1248 for (int i
= 0; i
< naxis
; i
++) {
1249 target
[i
] += delta
[i
];
1252 // submit for planning and if moved update machine_position
1253 if(append_milestone(target
, rate_mm_s
)) {
1254 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1261 // Append a move to the queue ( cutting it into segments if needed )
1262 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1264 // catch negative or zero feed rates and return the same error as GRBL does
1265 if(rate_mm_s
<= 0.0F
) {
1266 gcode
->is_error
= true;
1267 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1271 // Find out the distance for this move in XYZ in MCS
1272 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 ));
1274 if(millimeters_of_travel
< 0.00001F
) {
1275 // we have no movement in XYZ, probably E only extrude or retract
1276 return this->append_milestone(target
, rate_mm_s
);
1280 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1281 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1282 We ask Extruder to do all the work but we need to pass in the relevant data.
1283 NOTE we need to do this before we segment the line (for deltas)
1285 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1286 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1287 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1288 rate_mm_s
*= data
[1]; // adjust the feedrate
1292 // 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.
1293 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1294 // 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
1297 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1300 } else if(this->delta_segments_per_second
> 1.0F
) {
1301 // enabled if set to something > 1, it is set to 0.0 by default
1302 // segment based on current speed and requested segments per second
1303 // the faster the travel speed the fewer segments needed
1304 // NOTE rate is mm/sec and we take into account any speed override
1305 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1306 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1307 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1310 if(this->mm_per_line_segment
== 0.0F
) {
1311 segments
= 1; // don't split it up
1313 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1319 // A vector to keep track of the endpoint of each segment
1320 float segment_delta
[n_motors
];
1321 float segment_end
[n_motors
];
1322 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1324 // How far do we move each segment?
1325 for (int i
= 0; i
< n_motors
; i
++)
1326 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1328 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1329 // We always add another point after this loop so we stop at segments-1, ie i < segments
1330 for (int i
= 1; i
< segments
; i
++) {
1331 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1332 for (int i
= 0; i
< n_motors
; i
++)
1333 segment_end
[i
] += segment_delta
[i
];
1335 // Append the end of this segment to the queue
1336 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1341 // Append the end of this full move to the queue
1342 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1344 this->next_command_is_MCS
= false; // always reset this
1350 // Append an arc to the queue ( cutting it into segments as needed )
1351 // TODO does not support any E parameters so cannot be used for 3D printing.
1352 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1354 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1355 // catch negative or zero feed rates and return the same error as GRBL does
1356 if(rate_mm_s
<= 0.0F
) {
1357 gcode
->is_error
= true;
1358 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1363 float center_axis0
= this->machine_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1364 float center_axis1
= this->machine_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1365 float linear_travel
= target
[this->plane_axis_2
] - this->machine_position
[this->plane_axis_2
];
1366 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1367 float r_axis1
= -offset
[this->plane_axis_1
];
1368 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1369 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1371 // Patch from GRBL Firmware - Christoph Baumann 04072015
1372 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1373 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1374 if (is_clockwise
) { // Correct atan2 output per direction
1375 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1377 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1380 // Find the distance for this gcode
1381 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1383 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1384 if( millimeters_of_travel
< 0.00001F
) {
1388 // limit segments by maximum arc error
1389 float arc_segment
= this->mm_per_arc_segment
;
1390 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1391 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1392 if (this->mm_per_arc_segment
< min_err_segment
) {
1393 arc_segment
= min_err_segment
;
1396 // Figure out how many segments for this gcode
1397 // 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
1398 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1400 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1401 float theta_per_segment
= angular_travel
/ segments
;
1402 float linear_per_segment
= linear_travel
/ segments
;
1404 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1405 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1406 r_T = [cos(phi) -sin(phi);
1407 sin(phi) cos(phi] * r ;
1408 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1409 defined from the circle center to the initial position. Each line segment is formed by successive
1410 vector rotations. This requires only two cos() and sin() computations to form the rotation
1411 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1412 all float numbers are single precision on the Arduino. (True float precision will not have
1413 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1414 tool precision in some cases. Therefore, arc path correction is implemented.
1416 Small angle approximation may be used to reduce computation overhead further. This approximation
1417 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1418 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1419 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1420 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1421 issue for CNC machines with the single precision Arduino calculations.
1422 This approximation also allows mc_arc to immediately insert a line segment into the planner
1423 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1424 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1425 This is important when there are successive arc motions.
1427 // Vector rotation matrix values
1428 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1429 float sin_T
= theta_per_segment
;
1431 // TODO we need to handle the ABC axis here by segmenting them
1432 float arc_target
[3];
1439 // Initialize the linear axis
1440 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1443 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1444 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1446 if (count
< this->arc_correction
) {
1447 // Apply vector rotation matrix
1448 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1449 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1453 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1454 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1455 cos_Ti
= cosf(i
* theta_per_segment
);
1456 sin_Ti
= sinf(i
* theta_per_segment
);
1457 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1458 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1462 // Update arc_target location
1463 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1464 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1465 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1467 // Append this segment to the queue
1468 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1472 // Ensure last segment arrives at target location.
1473 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1478 // Do the math for an arc and add it to the queue
1479 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1483 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1485 // Set clockwise/counter-clockwise sign for mc_arc computations
1486 bool is_clockwise
= false;
1487 if( motion_mode
== CW_ARC
) {
1488 is_clockwise
= true;
1492 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1496 float Robot::theta(float x
, float y
)
1498 float t
= atanf(x
/ fabs(y
));
1510 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1512 this->plane_axis_0
= axis_0
;
1513 this->plane_axis_1
= axis_1
;
1514 this->plane_axis_2
= axis_2
;
1517 void Robot::clearToolOffset()
1519 this->tool_offset
= wcs_t(0,0,0);
1522 void Robot::setToolOffset(const float offset
[3])
1524 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1527 float Robot::get_feed_rate() const
1529 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;