2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/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/>.
13 #include "libs/Module.h"
14 #include "libs/Kernel.h"
15 #include "../communication/utils/Gcode.h"
16 #include "arm_solutions/BaseSolution.h"
19 #include "libs/StepperMotor.h"
22 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
23 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
24 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
25 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
26 #define arc_correction_checksum CHECKSUM("arc_correction")
27 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
28 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
29 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
30 #define arm_solution_checksum CHECKSUM("arm_solution")
31 #define cartesian_checksum CHECKSUM("cartesian")
32 #define rostock_checksum CHECKSUM("rostock")
33 #define delta_checksum CHECKSUM("delta")
35 #define NEXT_ACTION_DEFAULT 0
36 #define NEXT_ACTION_DWELL 1
37 #define NEXT_ACTION_GO_HOME 2
39 #define MOTION_MODE_SEEK 0 // G0
40 #define MOTION_MODE_LINEAR 1 // G1
41 #define MOTION_MODE_CW_ARC 2 // G2
42 #define MOTION_MODE_CCW_ARC 3 // G3
43 #define MOTION_MODE_CANCEL 4 // G80
45 #define PATH_CONTROL_MODE_EXACT_PATH 0
46 #define PATH_CONTROL_MODE_EXACT_STOP 1
47 #define PATH_CONTROL_MODE_CONTINOUS 2
49 #define PROGRAM_FLOW_RUNNING 0
50 #define PROGRAM_FLOW_PAUSED 1
51 #define PROGRAM_FLOW_COMPLETED 2
53 #define SPINDLE_DIRECTION_CW 0
54 #define SPINDLE_DIRECTION_CCW 1
58 class Robot
: public Module
{
61 void on_module_loaded();
62 void on_config_reload(void* argument
);
63 void on_gcode_received(void* argument
);
66 void execute_gcode(Gcode
* gcode
);
67 void append_milestone( double target
[], double feed_rate
);
68 void append_line( Gcode
* gcode
, double target
[], double feed_rate
);
69 //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
70 void append_arc( Gcode
* gcode
, double target
[], double offset
[], double radius
, bool is_clockwise
);
73 void compute_arc(Gcode
* gcode
, double offset
[], double target
[]);
74 double to_millimeters(double value
);
75 double theta(double x
, double y
);
76 void select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
);
78 double current_position
[3]; // Current position, in millimeters
79 double last_milestone
[3]; // Last position, in millimeters
80 bool inch_mode
; // true for inch mode, false for millimeter mode ( default )
81 bool absolute_mode
; // true for absolute mode ( default ), false for relative mode
82 int8_t motion_mode
; // Motion mode for the current received Gcode
83 double seek_rate
; // Current rate for seeking moves ( mm/s )
84 double feed_rate
; // Current rate for feeding moves ( mm/s )
85 uint8_t plane_axis_0
, plane_axis_1
, plane_axis_2
; // Current plane ( XY, XZ, YZ )
86 BaseSolution
* arm_solution
; // Selected Arm solution ( millimeters to step calculation )
87 double mm_per_line_segment
; // Setting : Used to split lines into segments
88 double mm_per_arc_segment
; // Setting : Used to split arcs into segmentrs
90 // Number of arc generation iterations by small angle approximation before exact arc trajectory
91 // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
92 // generations. In general, the default value is more than enough for the intended CNC applications
93 // of grbl, and should be on the order or greater than the size of the buffer to help with the
94 // computational efficiency of generating arcs.
95 int arc_correction
; // Setting : how often to rectify arc computation
96 double max_speeds
[3]; // Setting : max allowable speed in mm/m for each axis
110 StepperMotor
* alpha_stepper_motor
;
111 StepperMotor
* beta_stepper_motor
;
112 StepperMotor
* gamma_stepper_motor
;
114 double seconds_per_minute
; // for realtime speed change