2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl)
3 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
4 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
15 #include "StepperMotor.h"
17 #include "PublicDataRequest.h"
18 #include "PublicData.h"
19 #include "arm_solutions/BaseSolution.h"
20 #include "arm_solutions/CartesianSolution.h"
21 #include "arm_solutions/RotatableCartesianSolution.h"
22 #include "arm_solutions/LinearDeltaSolution.h"
23 #include "arm_solutions/RotaryDeltaSolution.h"
24 #include "arm_solutions/HBotSolution.h"
25 #include "arm_solutions/CoreXZSolution.h"
26 #include "arm_solutions/MorganSCARASolution.h"
27 #include "StepTicker.h"
28 #include "checksumm.h"
30 #include "ConfigValue.h"
31 #include "libs/StreamOutput.h"
32 #include "StreamOutputPool.h"
33 #include "ExtruderPublicAccess.h"
34 #include "GcodeDispatch.h"
35 #include "ActuatorCoordinates.h"
37 #include "mbed.h" // for us_ticker_read()
45 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
46 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
47 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
48 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
49 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
50 #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error")
51 #define arc_correction_checksum CHECKSUM("arc_correction")
52 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
53 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
54 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
55 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
56 #define save_g92_checksum CHECKSUM("save_g92")
57 #define set_g92_checksum CHECKSUM("set_g92")
60 #define arm_solution_checksum CHECKSUM("arm_solution")
61 #define cartesian_checksum CHECKSUM("cartesian")
62 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
63 #define rostock_checksum CHECKSUM("rostock")
64 #define linear_delta_checksum CHECKSUM("linear_delta")
65 #define rotary_delta_checksum CHECKSUM("rotary_delta")
66 #define delta_checksum CHECKSUM("delta")
67 #define hbot_checksum CHECKSUM("hbot")
68 #define corexy_checksum CHECKSUM("corexy")
69 #define corexz_checksum CHECKSUM("corexz")
70 #define kossel_checksum CHECKSUM("kossel")
71 #define morgan_checksum CHECKSUM("morgan")
73 // new-style actuator stuff
74 #define actuator_checksum CHEKCSUM("actuator")
76 #define step_pin_checksum CHECKSUM("step_pin")
77 #define dir_pin_checksum CHEKCSUM("dir_pin")
78 #define en_pin_checksum CHECKSUM("en_pin")
80 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
81 #define max_rate_checksum CHECKSUM("max_rate")
82 #define acceleration_checksum CHECKSUM("acceleration")
83 #define z_acceleration_checksum CHECKSUM("z_acceleration")
85 #define alpha_checksum CHECKSUM("alpha")
86 #define beta_checksum CHECKSUM("beta")
87 #define gamma_checksum CHECKSUM("gamma")
89 #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
91 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
92 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
94 // The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue
95 // It takes care of cutting arcs into segments, same thing for line that are too long
99 this->inch_mode
= false;
100 this->absolute_mode
= true;
101 this->e_absolute_mode
= true;
102 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
103 memset(this->machine_position
, 0, sizeof machine_position
);
104 memset(this->compensated_machine_position
, 0, sizeof compensated_machine_position
);
105 this->arm_solution
= NULL
;
106 seconds_per_minute
= 60.0F
;
107 this->clearToolOffset();
108 this->compensationTransform
= nullptr;
109 this->get_e_scale_fnc
= nullptr;
110 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
111 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
112 this->next_command_is_MCS
= false;
113 this->disable_segmentation
= false;
114 this->disable_arm_solution
= false;
118 //Called when the module has just been loaded
119 void Robot::on_module_loaded()
121 this->register_for_event(ON_GCODE_RECEIVED
);
127 #define ACTUATOR_CHECKSUMS(X) { \
128 CHECKSUM(X "_step_pin"), \
129 CHECKSUM(X "_dir_pin"), \
130 CHECKSUM(X "_en_pin"), \
131 CHECKSUM(X "_steps_per_mm"), \
132 CHECKSUM(X "_max_rate"), \
133 CHECKSUM(X "_acceleration") \
136 void Robot::load_config()
138 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
139 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
140 // To make adding those solution easier, they have their own, separate object.
141 // Here we read the config to find out which arm solution to use
142 if (this->arm_solution
) delete this->arm_solution
;
143 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
144 // Note checksums are not const expressions when in debug mode, so don't use switch
145 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
146 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
148 } else if(solution_checksum
== corexz_checksum
) {
149 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
151 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
152 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
154 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
155 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
157 } else if(solution_checksum
== rotary_delta_checksum
) {
158 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
160 } else if(solution_checksum
== morgan_checksum
) {
161 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
163 } else if(solution_checksum
== cartesian_checksum
) {
164 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
167 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
170 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
171 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
172 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
173 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
174 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
175 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
176 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
178 // in mm/sec but specified in config as mm/min
179 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
180 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
181 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
183 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
184 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
185 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
187 // optional setting for a fixed G92 offset
188 std::vector
<float> t
= parse_number_list(g92
.c_str());
190 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
194 // default s value for laser
195 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
197 // Make our Primary XYZ StepperMotors
198 uint16_t const checksums
[][6] = {
199 ACTUATOR_CHECKSUMS("alpha"), // X
200 ACTUATOR_CHECKSUMS("beta"), // Y
201 ACTUATOR_CHECKSUMS("gamma"), // Z
204 // default acceleration setting, can be overriden with newer per axis settings
205 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
208 for (size_t a
= X_AXIS
; a
<= Z_AXIS
; a
++) {
209 Pin pins
[3]; //step, dir, enable
210 for (size_t i
= 0; i
< 3; i
++) {
211 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
213 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
214 // register this motor (NB This must be 0,1,2) of the actuators array
215 uint8_t n
= register_motor(sm
);
217 // this is a fatal error
218 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
222 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
223 actuators
[a
]->set_max_rate(THEKERNEL
->config
->value(checksums
[a
][4])->by_default(30000.0F
)->as_number()/60.0F
); // it is in mm/min and converted to mm/sec
224 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
227 check_max_actuator_speeds(); // check the configs are sane
229 // if we have not specified a z acceleration see if the legacy config was set
230 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
231 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
233 actuators
[Z_AXIS
]->set_acceleration(acc
);
237 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
238 // so the first move can be correct if homing is not performed
239 ActuatorCoordinates actuator_pos
;
240 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
241 for (size_t i
= 0; i
< n_motors
; i
++)
242 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
244 //this->clearToolOffset();
247 uint8_t Robot::register_motor(StepperMotor
*motor
)
249 // register this motor with the step ticker
250 THEKERNEL
->step_ticker
->register_motor(motor
);
251 if(n_motors
>= k_max_actuators
) {
252 // this is a fatal error
253 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
256 actuators
.push_back(motor
);
257 motor
->set_motor_id(n_motors
);
261 void Robot::push_state()
263 bool am
= this->absolute_mode
;
264 bool em
= this->e_absolute_mode
;
265 bool im
= this->inch_mode
;
266 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
270 void Robot::pop_state()
272 if(!state_stack
.empty()) {
273 auto s
= state_stack
.top();
275 this->feed_rate
= std::get
<0>(s
);
276 this->seek_rate
= std::get
<1>(s
);
277 this->absolute_mode
= std::get
<2>(s
);
278 this->e_absolute_mode
= std::get
<3>(s
);
279 this->inch_mode
= std::get
<4>(s
);
280 this->current_wcs
= std::get
<5>(s
);
284 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
286 std::vector
<wcs_t
> v
;
287 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
288 for(auto& i
: wcs_offsets
) {
291 v
.push_back(g92_offset
);
292 v
.push_back(tool_offset
);
296 void Robot::get_current_machine_position(float *pos
) const
298 // get real time current actuator position in mm
299 ActuatorCoordinates current_position
{
300 actuators
[X_AXIS
]->get_current_position(),
301 actuators
[Y_AXIS
]->get_current_position(),
302 actuators
[Z_AXIS
]->get_current_position()
305 // get machine position from the actuator position using FK
306 arm_solution
->actuator_to_cartesian(current_position
, pos
);
309 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
311 // M114.1 is a new way to do this (similar to how GRBL does it).
312 // it returns the realtime position based on the current step position of the actuators.
313 // this does require a FK to get a machine position from the actuator position
314 // and then invert all the transforms to get a workspace position from machine position
315 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
317 if(subcode
== 0) { // M114 print WCS
318 wcs_t pos
= mcs2wcs(machine_position
);
319 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
)));
321 } else if(subcode
== 4) {
322 // M114.4 print last milestone
323 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
]);
325 } else if(subcode
== 5) {
326 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
327 // will differ from LMS by the compensation at the current position otherwise
328 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
]);
331 // get real time positions
333 get_current_machine_position(mpos
);
335 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
336 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
338 if(subcode
== 1) { // M114.1 print realtime WCS
339 wcs_t pos
= mcs2wcs(mpos
);
340 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
)));
342 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
343 n
= snprintf(buf
, bufsize
, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
345 } else if(subcode
== 3) { // M114.3 print realtime actuator position
346 // get real time current actuator position in mm
347 ActuatorCoordinates current_position
{
348 actuators
[X_AXIS
]->get_current_position(),
349 actuators
[Y_AXIS
]->get_current_position(),
350 actuators
[Z_AXIS
]->get_current_position()
352 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
]);
358 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
359 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
361 return std::make_tuple(
362 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
),
363 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
),
364 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
)
368 // this does a sanity check that actuator speeds do not exceed steps rate capability
369 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
370 void Robot::check_max_actuator_speeds()
372 for (size_t i
= 0; i
< n_motors
; i
++) {
373 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
374 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
375 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
376 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());
381 //A GCode has been received
382 //See if the current Gcode line has some orders for us
383 void Robot::on_gcode_received(void *argument
)
385 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
387 enum MOTION_MODE_T motion_mode
= NONE
;
391 case 0: motion_mode
= SEEK
; break;
392 case 1: motion_mode
= LINEAR
; break;
393 case 2: motion_mode
= CW_ARC
; break;
394 case 3: motion_mode
= CCW_ARC
; break;
395 case 4: { // G4 pause
396 uint32_t delay_ms
= 0;
397 if (gcode
->has_letter('P')) {
398 delay_ms
= gcode
->get_int('P');
400 if (gcode
->has_letter('S')) {
401 delay_ms
+= gcode
->get_int('S') * 1000;
405 THEKERNEL
->conveyor
->wait_for_idle();
406 // wait for specified time
407 uint32_t start
= us_ticker_read(); // mbed call
408 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
409 THEKERNEL
->call_event(ON_IDLE
, this);
410 if(THEKERNEL
->is_halted()) return;
416 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
417 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
418 size_t n
= gcode
->get_uint('P');
419 if(n
== 0) n
= current_wcs
; // set current coordinate system
423 std::tie(x
, y
, z
) = wcs_offsets
[n
];
424 if(gcode
->get_int('L') == 20) {
425 // this makes the current machine position (less compensation transform) the offset
426 // get current position in WCS
427 wcs_t pos
= mcs2wcs(machine_position
);
429 if(gcode
->has_letter('X')){
430 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
433 if(gcode
->has_letter('Y')){
434 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
436 if(gcode
->has_letter('Z')) {
437 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
442 // the value is the offset from machine zero
443 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
444 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
445 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
447 if(gcode
->has_letter('X')) x
+= to_millimeters(gcode
->get_value('X'));
448 if(gcode
->has_letter('Y')) y
+= to_millimeters(gcode
->get_value('Y'));
449 if(gcode
->has_letter('Z')) z
+= to_millimeters(gcode
->get_value('Z'));
452 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
457 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
458 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
459 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
460 case 20: this->inch_mode
= true; break;
461 case 21: this->inch_mode
= false; break;
463 case 54: case 55: case 56: case 57: case 58: case 59:
464 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
465 current_wcs
= gcode
->g
- 54;
466 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
467 current_wcs
+= gcode
->subcode
;
468 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
472 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
473 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
476 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
477 // reset G92 offsets to 0
478 g92_offset
= wcs_t(0, 0, 0);
480 } else if(gcode
->subcode
== 3) {
481 // initialize G92 to the specified values, only used for saving it with M500
482 float x
= 0, y
= 0, z
= 0;
483 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
484 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
485 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
486 g92_offset
= wcs_t(x
, y
, z
);
489 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
491 std::tie(x
, y
, z
) = g92_offset
;
492 // get current position in WCS
493 wcs_t pos
= mcs2wcs(machine_position
);
495 // adjust g92 offset to make the current wpos == the value requested
496 if(gcode
->has_letter('X')){
497 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
499 if(gcode
->has_letter('Y')){
500 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
502 if(gcode
->has_letter('Z')) {
503 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
505 g92_offset
= wcs_t(x
, y
, z
);
508 #if MAX_ROBOT_ACTUATORS > 3
509 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
510 // reset the E position, legacy for 3d Printers to be reprap compatible
511 // find the selected extruder
512 int selected_extruder
= get_active_extruder();
513 if(selected_extruder
> 0) {
514 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
515 machine_position
[selected_extruder
]= compensated_machine_position
[selected_extruder
]= e
;
516 actuators
[selected_extruder
]->change_last_milestone(get_e_scale_fnc
? e
*get_e_scale_fnc() : e
);
525 } else if( gcode
->has_m
) {
527 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
528 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
531 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
532 if(!THEKERNEL
->is_grbl_mode()) break;
533 // fall through to M2
534 case 2: // M2 end of program
536 absolute_mode
= true;
539 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
542 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
543 if(gcode
->get_num_args() > 0) {
544 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
546 for (int i
= 0; i
< n_motors
; ++i
) {
547 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
548 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
550 // handle E parameter as currently selected extruder ABC
551 if(gcode
->has_letter('E')) {
552 // find first selected extruder
553 int i
= get_active_extruder();
555 bm
|= (0x02<<i
); // set appropriate bit
559 THEKERNEL
->conveyor
->wait_for_idle();
560 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
565 THEKERNEL
->conveyor
->wait_for_idle();
566 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
569 case 82: e_absolute_mode
= true; break;
570 case 83: e_absolute_mode
= false; break;
572 case 92: // M92 - set steps per mm
573 if (gcode
->has_letter('X'))
574 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
575 if (gcode
->has_letter('Y'))
576 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
577 if (gcode
->has_letter('Z'))
578 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
580 gcode
->stream
->printf("X:%f Y:%f Z:%f ", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
581 gcode
->add_nl
= true;
582 check_max_actuator_speeds();
587 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
588 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
592 case 120: // push state
596 case 121: // pop state
600 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
601 if(gcode
->get_num_args() == 0) {
602 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
603 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
605 gcode
->add_nl
= true;
608 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
609 if (gcode
->has_letter('X' + i
)) {
610 float v
= gcode
->get_value('X'+i
);
611 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
612 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
616 // this format is deprecated
617 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
618 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
619 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
620 if (gcode
->has_letter('A' + i
)) {
621 float v
= gcode
->get_value('A'+i
);
622 actuators
[i
]->set_max_rate(v
);
627 if(gcode
->subcode
== 1) check_max_actuator_speeds();
631 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
632 if (gcode
->has_letter('S')) {
633 float acc
= gcode
->get_value('S'); // mm/s^2
635 if (acc
< 1.0F
) acc
= 1.0F
;
636 this->default_acceleration
= acc
;
638 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
639 if (gcode
->has_letter(i
+'X')) {
640 float acc
= gcode
->get_value(i
+'X'); // mm/s^2
642 if (acc
<= 0.0F
) acc
= NAN
;
643 actuators
[i
]->set_acceleration(acc
);
648 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
649 if (gcode
->has_letter('X')) {
650 float jd
= gcode
->get_value('X');
654 THEKERNEL
->planner
->junction_deviation
= jd
;
656 if (gcode
->has_letter('Z')) {
657 float jd
= gcode
->get_value('Z');
658 // enforce minimum, -1 disables it and uses regular junction deviation
661 THEKERNEL
->planner
->z_junction_deviation
= jd
;
663 if (gcode
->has_letter('S')) {
664 float mps
= gcode
->get_value('S');
668 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
672 case 220: // M220 - speed override percentage
673 if (gcode
->has_letter('S')) {
674 float factor
= gcode
->get_value('S');
675 // enforce minimum 10% speed
678 // enforce maximum 10x speed
679 if (factor
> 1000.0F
)
682 seconds_per_minute
= 6000.0F
/ factor
;
684 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
688 case 400: // wait until all moves are done up to this point
689 THEKERNEL
->conveyor
->wait_for_idle();
692 case 500: // M500 saves some volatile settings to config override file
693 case 503: { // M503 just prints the settings
694 gcode
->stream
->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators
[0]->get_steps_per_mm(), actuators
[1]->get_steps_per_mm(), actuators
[2]->get_steps_per_mm());
696 // only print XYZ if not NAN
697 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
698 for (int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
699 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", 'X'+i
, actuators
[i
]->get_acceleration());
701 gcode
->stream
->printf("\n");
703 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
);
705 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
]);
706 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 X%1.5f Y%1.5f Z%1.5f\n", actuators
[X_AXIS
]->get_max_rate(), actuators
[Y_AXIS
]->get_max_rate(), actuators
[Z_AXIS
]->get_max_rate());
708 // get or save any arm solution specific optional values
709 BaseSolution::arm_options_t options
;
710 if(arm_solution
->get_optional(options
) && !options
.empty()) {
711 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
712 for(auto &i
: options
) {
713 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
715 gcode
->stream
->printf("\n");
718 // save wcs_offsets and current_wcs
719 // TODO this may need to be done whenever they change to be compliant
720 gcode
->stream
->printf(";WCS settings\n");
721 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
723 for(auto &i
: wcs_offsets
) {
724 if(i
!= wcs_t(0, 0, 0)) {
726 std::tie(x
, y
, z
) = i
;
727 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
732 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
733 // 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
734 if(g92_offset
!= wcs_t(0, 0, 0)) {
736 std::tie(x
, y
, z
) = g92_offset
;
737 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
743 case 665: { // M665 set optional arm solution variables based on arm solution.
744 // the parameter args could be any letter each arm solution only accepts certain ones
745 BaseSolution::arm_options_t options
= gcode
->get_args();
746 options
.erase('S'); // don't include the S
747 options
.erase('U'); // don't include the U
748 if(options
.size() > 0) {
749 // set the specified options
750 arm_solution
->set_optional(options
);
753 if(arm_solution
->get_optional(options
)) {
754 // foreach optional value
755 for(auto &i
: options
) {
756 // print all current values of supported options
757 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
758 gcode
->add_nl
= true;
762 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
763 this->delta_segments_per_second
= gcode
->get_value('S');
764 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
766 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
767 this->mm_per_line_segment
= gcode
->get_value('U');
768 this->delta_segments_per_second
= 0;
769 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
777 if( motion_mode
!= NONE
) {
778 is_g123
= motion_mode
!= SEEK
;
779 process_move(gcode
, motion_mode
);
785 next_command_is_MCS
= false; // must be on same line as G0 or G1
788 int Robot::get_active_extruder() const
790 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
791 // find first selected extruder
792 if(actuators
[i
]->is_extruder() && actuators
[i
]->is_selected()) return i
;
797 // process a G0/G1/G2/G3
798 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
800 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
801 // get XYZ and one E (which goes to the selected extruder)
802 float param
[4]{NAN
, NAN
, NAN
, NAN
};
804 // process primary axis
805 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
807 if( gcode
->has_letter(letter
) ) {
808 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
812 float offset
[3]{0,0,0};
813 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
814 if( gcode
->has_letter(letter
) ) {
815 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
819 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
820 float target
[n_motors
];
821 memcpy(target
, machine_position
, n_motors
*sizeof(float));
823 if(!next_command_is_MCS
) {
824 if(this->absolute_mode
) {
825 // apply wcs offsets and g92 offset and tool offset
826 if(!isnan(param
[X_AXIS
])) {
827 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
);
830 if(!isnan(param
[Y_AXIS
])) {
831 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
);
834 if(!isnan(param
[Z_AXIS
])) {
835 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
);
839 // they are deltas from the machine_position if specified
840 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
841 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
846 // already in machine coordinates, we do not add tool offset for that
847 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
848 if(!isnan(param
[i
])) target
[i
] = param
[i
];
852 // process extruder parameters, for active extruder only (only one active extruder at a time)
853 int selected_extruder
= 0;
854 if(gcode
->has_letter('E')) {
855 selected_extruder
= get_active_extruder();
856 param
[E_AXIS
]= gcode
->get_value('E');
859 // do E for the selected extruder
861 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
862 if(this->e_absolute_mode
) {
863 target
[selected_extruder
]= param
[E_AXIS
];
864 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
866 delta_e
= param
[E_AXIS
];
867 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
871 if( gcode
->has_letter('F') ) {
872 if( motion_mode
== SEEK
)
873 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
875 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
878 // S is modal When specified on a G0/1/2/3 command
879 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
883 // Perform any physical actions
884 switch(motion_mode
) {
888 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
892 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
897 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
898 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
903 // set machine_position to the calculated target
904 memcpy(machine_position
, target
, n_motors
*sizeof(float));
908 // reset the machine position for all axis. Used for homing.
909 // after homing we supply the cartesian coordinates that the head is at when homed,
910 // however for Z this is the compensated machine position (if enabled)
911 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
912 // this will make the results from M114 and ? consistent after homing.
913 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
914 void Robot::reset_axis_position(float x
, float y
, float z
)
916 // set both the same initially
917 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
918 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
919 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
921 if(compensationTransform
) {
922 // apply inverse transform to get machine_position
923 compensationTransform(machine_position
, true);
926 // now set the actuator positions based on the supplied compensated position
927 ActuatorCoordinates actuator_pos
;
928 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
929 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
930 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
933 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
934 void Robot::reset_axis_position(float position
, int axis
)
936 compensated_machine_position
[axis
] = position
;
938 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
940 #if MAX_ROBOT_ACTUATORS > 3
941 }else if(axis
< n_motors
) {
942 // ABC and/or extruders need to be set as there is no arm solution for them
943 machine_position
[axis
]= compensated_machine_position
[axis
]= position
;
944 actuators
[axis
]->change_last_milestone(machine_position
[axis
]);
949 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
950 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
951 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
953 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
954 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
957 // now correct axis positions then recorrect actuator to account for rounding
958 reset_position_from_current_actuator_position();
961 // Use FK to find out where actuator is and reset to match
962 // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
963 void Robot::reset_position_from_current_actuator_position()
965 ActuatorCoordinates actuator_pos
;
966 for (size_t i
= X_AXIS
; i
< n_motors
; i
++) {
967 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
968 actuator_pos
[i
] = actuators
[i
]->get_current_position();
971 // discover machine position from where actuators actually are
972 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
973 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
975 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
976 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
978 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
979 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
980 // to get everything in perfect sync.
981 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
982 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
983 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
986 // Handle extruders and/or ABC axis
987 #if MAX_ROBOT_ACTUATORS > 3
988 for (int i
= A_AXIS
; i
< n_motors
; i
++) {
989 // ABC and/or extruders just need to set machine_position and compensated_machine_position
990 float ap
= actuator_pos
[i
];
991 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
992 machine_position
[i
]= compensated_machine_position
[i
]= ap
;
993 actuators
[i
]->change_last_milestone(actuator_pos
[i
]); // this updates the last_milestone in the actuator
998 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
999 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
1000 // all transforms and is what we actually convert to actuator positions
1001 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
1003 float deltas
[n_motors
];
1004 float transformed_target
[n_motors
]; // adjust target for bed compensation
1005 float unit_vec
[N_PRIMARY_AXIS
];
1007 // unity transform by default
1008 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
1010 // check function pointer and call if set to transform the target to compensate for bed
1011 if(compensationTransform
) {
1012 // some compensation strategies can transform XYZ, some just change Z
1013 compensationTransform(transformed_target
, false);
1017 float sos
= 0; // sum of squares for just XYZ
1019 // find distance moved by each axis, use transformed target from the current compensated machine position
1020 for (size_t i
= 0; i
< n_motors
; i
++) {
1021 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
1022 if(deltas
[i
] == 0) continue;
1023 // at least one non zero delta
1026 sos
+= powf(deltas
[i
], 2);
1031 if(!move
) return false;
1033 // see if this is a primary axis move or not
1034 bool auxilliary_move
= deltas
[X_AXIS
] == 0 && deltas
[Y_AXIS
] == 0 && deltas
[Z_AXIS
] == 0;
1036 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
1037 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
1039 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1040 // 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
1041 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1044 if(!auxilliary_move
) {
1045 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1046 // find distance unit vector for primary axis only
1047 unit_vec
[i
] = deltas
[i
] / distance
;
1049 // Do not move faster than the configured cartesian limits for XYZ
1050 if ( max_speeds
[i
] > 0 ) {
1051 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1053 if (axis_speed
> max_speeds
[i
])
1054 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1059 // find actuator position given the machine position, use actual adjusted target
1060 ActuatorCoordinates actuator_pos
;
1061 if(!disable_arm_solution
) {
1062 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1065 // basically the same as cartesian, would be used for special homing situations like for scara
1066 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1067 actuator_pos
[i
] = transformed_target
[i
];
1071 #if MAX_ROBOT_ACTUATORS > 3
1073 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1074 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1075 actuator_pos
[i
]= transformed_target
[i
];
1076 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) {
1077 // NOTE this relies on the fact only one extruder is active at a time
1078 // scale for volumetric or flow rate
1079 // TODO is this correct? scaling the absolute target? what if the scale changes?
1080 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1081 actuator_pos
[i
] *= get_e_scale_fnc();
1083 if(auxilliary_move
) {
1084 // for E only moves we need to use the scaled E to calculate the distance
1085 sos
+= pow(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1088 if(auxilliary_move
) {
1089 distance
= sqrtf(sos
); // distance in mm of the e move
1090 if(distance
< 0.00001F
) return false;
1094 // use default acceleration to start with
1095 float acceleration
= default_acceleration
;
1097 float isecs
= rate_mm_s
/ distance
;
1099 // check per-actuator speed limits
1100 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1101 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1102 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1104 float actuator_rate
= d
* isecs
;
1105 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1106 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1107 isecs
= rate_mm_s
/ distance
;
1110 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1111 // 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.
1112 if(auxilliary_move
|| actuator
<= Z_AXIS
) {
1113 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1114 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1115 float ca
= fabsf((d
/distance
) * acceleration
);
1117 acceleration
*= ( ma
/ ca
);
1123 // Append the block to the planner
1124 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1125 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1126 // this is the new compensated machine position
1127 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1135 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1136 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1138 if(THEKERNEL
->is_halted()) return false;
1140 // catch negative or zero feed rates
1141 if(rate_mm_s
<= 0.0F
) {
1145 // get the absolute target position, default is current machine_position
1146 float target
[n_motors
];
1147 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1149 // add in the deltas to get new target
1150 for (int i
= 0; i
< naxis
; i
++) {
1151 target
[i
] += delta
[i
];
1154 // submit for planning and if moved update machine_position
1155 if(append_milestone(target
, rate_mm_s
)) {
1156 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1163 // Append a move to the queue ( cutting it into segments if needed )
1164 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1166 // catch negative or zero feed rates and return the same error as GRBL does
1167 if(rate_mm_s
<= 0.0F
) {
1168 gcode
->is_error
= true;
1169 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1173 // Find out the distance for this move in XYZ in MCS
1174 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 ));
1176 if(millimeters_of_travel
< 0.00001F
) {
1177 // we have no movement in XYZ, probably E only extrude or retract
1178 return this->append_milestone(target
, rate_mm_s
);
1182 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1183 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1184 We ask Extruder to do all the work but we need to pass in the relevant data.
1185 NOTE we need to do this before we segment the line (for deltas)
1187 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1188 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1189 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1190 rate_mm_s
*= data
[1]; // adjust the feedrate
1194 // 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.
1195 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1196 // 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
1199 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1202 } else if(this->delta_segments_per_second
> 1.0F
) {
1203 // enabled if set to something > 1, it is set to 0.0 by default
1204 // segment based on current speed and requested segments per second
1205 // the faster the travel speed the fewer segments needed
1206 // NOTE rate is mm/sec and we take into account any speed override
1207 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1208 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1209 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1212 if(this->mm_per_line_segment
== 0.0F
) {
1213 segments
= 1; // don't split it up
1215 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1221 // A vector to keep track of the endpoint of each segment
1222 float segment_delta
[n_motors
];
1223 float segment_end
[n_motors
];
1224 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1226 // How far do we move each segment?
1227 for (int i
= 0; i
< n_motors
; i
++)
1228 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1230 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1231 // We always add another point after this loop so we stop at segments-1, ie i < segments
1232 for (int i
= 1; i
< segments
; i
++) {
1233 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1234 for (int i
= 0; i
< n_motors
; i
++)
1235 segment_end
[i
] += segment_delta
[i
];
1237 // Append the end of this segment to the queue
1238 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1243 // Append the end of this full move to the queue
1244 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1246 this->next_command_is_MCS
= false; // always reset this
1252 // Append an arc to the queue ( cutting it into segments as needed )
1253 // TODO does not support any E parameters so cannot be used for 3D printing.
1254 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1256 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1257 // catch negative or zero feed rates and return the same error as GRBL does
1258 if(rate_mm_s
<= 0.0F
) {
1259 gcode
->is_error
= true;
1260 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1265 float center_axis0
= this->machine_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1266 float center_axis1
= this->machine_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1267 float linear_travel
= target
[this->plane_axis_2
] - this->machine_position
[this->plane_axis_2
];
1268 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1269 float r_axis1
= -offset
[this->plane_axis_1
];
1270 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1271 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1273 // Patch from GRBL Firmware - Christoph Baumann 04072015
1274 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1275 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1276 if (is_clockwise
) { // Correct atan2 output per direction
1277 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1279 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1282 // Find the distance for this gcode
1283 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1285 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1286 if( millimeters_of_travel
< 0.00001F
) {
1290 // limit segments by maximum arc error
1291 float arc_segment
= this->mm_per_arc_segment
;
1292 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1293 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1294 if (this->mm_per_arc_segment
< min_err_segment
) {
1295 arc_segment
= min_err_segment
;
1298 // Figure out how many segments for this gcode
1299 // 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
1300 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1302 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1303 float theta_per_segment
= angular_travel
/ segments
;
1304 float linear_per_segment
= linear_travel
/ segments
;
1306 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1307 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1308 r_T = [cos(phi) -sin(phi);
1309 sin(phi) cos(phi] * r ;
1310 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1311 defined from the circle center to the initial position. Each line segment is formed by successive
1312 vector rotations. This requires only two cos() and sin() computations to form the rotation
1313 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1314 all float numbers are single precision on the Arduino. (True float precision will not have
1315 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1316 tool precision in some cases. Therefore, arc path correction is implemented.
1318 Small angle approximation may be used to reduce computation overhead further. This approximation
1319 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1320 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1321 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1322 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1323 issue for CNC machines with the single precision Arduino calculations.
1324 This approximation also allows mc_arc to immediately insert a line segment into the planner
1325 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1326 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1327 This is important when there are successive arc motions.
1329 // Vector rotation matrix values
1330 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1331 float sin_T
= theta_per_segment
;
1333 float arc_target
[3];
1340 // Initialize the linear axis
1341 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1344 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1345 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1347 if (count
< this->arc_correction
) {
1348 // Apply vector rotation matrix
1349 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1350 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1354 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1355 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1356 cos_Ti
= cosf(i
* theta_per_segment
);
1357 sin_Ti
= sinf(i
* theta_per_segment
);
1358 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1359 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1363 // Update arc_target location
1364 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1365 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1366 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1368 // Append this segment to the queue
1369 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1373 // Ensure last segment arrives at target location.
1374 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1379 // Do the math for an arc and add it to the queue
1380 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1384 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1386 // Set clockwise/counter-clockwise sign for mc_arc computations
1387 bool is_clockwise
= false;
1388 if( motion_mode
== CW_ARC
) {
1389 is_clockwise
= true;
1393 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1397 float Robot::theta(float x
, float y
)
1399 float t
= atanf(x
/ fabs(y
));
1411 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1413 this->plane_axis_0
= axis_0
;
1414 this->plane_axis_1
= axis_1
;
1415 this->plane_axis_2
= axis_2
;
1418 void Robot::clearToolOffset()
1420 this->tool_offset
= wcs_t(0,0,0);
1423 void Robot::setToolOffset(const float offset
[3])
1425 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1428 float Robot::get_feed_rate() const
1430 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;