src/modules/robot/Robot.h

   1 /*
   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/>.
   6 */
   7
   8 #ifndef ROBOT_H
   9 #define ROBOT_H
  10
  11 #include <string>
  12 using std::string;
  13 #include "libs/Module.h"
  14 #include "libs/Kernel.h"
  15 #include "../communication/utils/Gcode.h"
  16 #include "arm_solutions/BaseSolution.h"
  17 #include "Planner.h"
  18 #include "libs/Pin.h"
  19 #include "libs/StepperMotor.h"
  20
  21
  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 rotatable_cartesian_checksum           CHECKSUM("rotatable_cartesian")
  33 #define rostock_checksum                       CHECKSUM("rostock")
  34 #define delta_checksum                         CHECKSUM("delta")
  35
  36 #define NEXT_ACTION_DEFAULT 0
  37 #define NEXT_ACTION_DWELL 1
  38 #define NEXT_ACTION_GO_HOME 2
  39
  40 #define MOTION_MODE_SEEK 0 // G0
  41 #define MOTION_MODE_LINEAR 1 // G1
  42 #define MOTION_MODE_CW_ARC 2 // G2
  43 #define MOTION_MODE_CCW_ARC 3 // G3
  44 #define MOTION_MODE_CANCEL 4 // G80
  45
  46 #define PATH_CONTROL_MODE_EXACT_PATH 0
  47 #define PATH_CONTROL_MODE_EXACT_STOP 1
  48 #define PATH_CONTROL_MODE_CONTINOUS 2
  49
  50 #define PROGRAM_FLOW_RUNNING 0
  51 #define PROGRAM_FLOW_PAUSED 1
  52 #define PROGRAM_FLOW_COMPLETED 2
  53
  54 #define SPINDLE_DIRECTION_CW 0
  55 #define SPINDLE_DIRECTION_CCW 1
  56
  57
  58
  59 class Robot : public Module {
  60     public:
  61         Robot();
  62         void on_module_loaded();
  63         void on_config_reload(void* argument);
  64         void on_gcode_received(void* argument);
  65
  66     private:
  67         void execute_gcode(Gcode* gcode);
  68         void append_milestone( double target[], double feed_rate);
  69         void append_line( Gcode* gcode, double target[], double feed_rate);
  70         //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
  71         void append_arc( Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise );
  72
  73
  74         void compute_arc(Gcode* gcode, double offset[], double target[]);
  75         double to_millimeters(double value);
  76         double theta(double x, double y);
  77         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
  78
  79         double current_position[3];                           // Current position, in millimeters
  80         double last_milestone[3];                             // Last position, in millimeters
  81         bool inch_mode;                                       // true for inch mode, false for millimeter mode ( default )
  82         bool absolute_mode;                                   // true for absolute mode ( default ), false for relative mode
  83         int8_t motion_mode;                                   // Motion mode for the current received Gcode
  84         double seek_rate;                                     // Current rate for seeking moves ( mm/s )
  85         double feed_rate;                                     // Current rate for feeding moves ( mm/s )
  86         uint8_t plane_axis_0, plane_axis_1, plane_axis_2;     // Current plane ( XY, XZ, YZ )
  87         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
  88         double mm_per_line_segment;                           // Setting : Used to split lines into segments
  89         double mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
  90
  91         // Number of arc generation iterations by small angle approximation before exact arc trajectory
  92         // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
  93         // generations. In general, the default value is more than enough for the intended CNC applications
  94         // of grbl, and should be on the order or greater than the size of the buffer to help with the
  95         // computational efficiency of generating arcs.
  96         int arc_correction;                                   // Setting : how often to rectify arc computation
  97         double max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
  98
  99     // Used by Stepper
 100     public:
 101         Pin alpha_step_pin;
 102         Pin alpha_dir_pin;
 103         Pin alpha_en_pin;
 104         Pin beta_step_pin;
 105         Pin beta_dir_pin;
 106         Pin beta_en_pin;
 107         Pin gamma_step_pin;
 108         Pin gamma_dir_pin;
 109         Pin gamma_en_pin;
 110
 111         StepperMotor* alpha_stepper_motor;
 112         StepperMotor* beta_stepper_motor;
 113         StepperMotor* gamma_stepper_motor;
 114
 115         double seconds_per_minute;                            // for realtime speed change
 116 };
 117
 118 #endif