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 47357
23 #define default_feed_rate_checksum 6633
24 #define mm_per_line_segment_checksum 30176
25 #define mm_per_arc_segment_checksum 15470
26 #define arc_correction_checksum 5074
27 #define x_axis_max_speed_checksum 64935
28 #define y_axis_max_speed_checksum 3752
29 #define z_axis_max_speed_checksum 7849
31 #define NEXT_ACTION_DEFAULT 0
32 #define NEXT_ACTION_DWELL 1
33 #define NEXT_ACTION_GO_HOME 2
35 #define MOTION_MODE_SEEK 0 // G0
36 #define MOTION_MODE_LINEAR 1 // G1
37 #define MOTION_MODE_CW_ARC 2 // G2
38 #define MOTION_MODE_CCW_ARC 3 // G3
39 #define MOTION_MODE_CANCEL 4 // G80
41 #define PATH_CONTROL_MODE_EXACT_PATH 0
42 #define PATH_CONTROL_MODE_EXACT_STOP 1
43 #define PATH_CONTROL_MODE_CONTINOUS 2
45 #define PROGRAM_FLOW_RUNNING 0
46 #define PROGRAM_FLOW_PAUSED 1
47 #define PROGRAM_FLOW_COMPLETED 2
49 #define SPINDLE_DIRECTION_CW 0
50 #define SPINDLE_DIRECTION_CCW 1
54 class Robot
: public Module
{
57 void on_module_loaded();
58 void on_config_reload(void* argument
);
59 void on_gcode_received(void* argument
);
60 void execute_gcode(Gcode
* gcode
);
61 void append_milestone( double target
[], double feed_rate
);
62 void append_line( Gcode
* gcode
, double target
[], double feed_rate
);
63 //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
64 void append_arc( Gcode
* gcode
, double target
[], double offset
[], double radius
, bool is_clockwise
);
67 void compute_arc(Gcode
* gcode
, double offset
[], double target
[]);
68 double to_millimeters(double value
);
69 double theta(double x
, double y
);
70 void select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
);
72 double current_position
[3]; // Current position, in millimeters
73 double last_milestone
[3]; // Last position, in millimeters
74 bool inch_mode
; // true for inch mode, false for millimeter mode ( default )
75 bool absolute_mode
; // true for absolute mode ( default ), false for relative mode
76 uint8_t motion_mode
; // Motion mode for the current received Gcode
77 double seek_rate
; // Current rate for seeking moves ( mm/s )
78 double feed_rate
; // Current rate for feeding moves ( mm/s )
79 uint8_t plane_axis_0
, plane_axis_1
, plane_axis_2
; // Current plane ( XY, XZ, YZ )
80 BaseSolution
* arm_solution
; // Selected Arm solution ( millimeters to step calculation )
81 double mm_per_line_segment
; // Setting : Used to split lines into segments
82 double mm_per_arc_segment
; // Setting : Used to split arcs into segmentrs
84 // Number of arc generation iterations by small angle approximation before exact arc trajectory
85 // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
86 // generations. In general, the default value is more than enough for the intended CNC applications
87 // of grbl, and should be on the order or greater than the size of the buffer to help with the
88 // computational efficiency of generating arcs.
89 int arc_correction
; // Setting : how often to rectify arc computation
90 double max_speeds
[3]; // Setting : max allowable speed in mm/m for each axis
102 StepperMotor
* alpha_stepper_motor
;
103 StepperMotor
* beta_stepper_motor
;
104 StepperMotor
* gamma_stepper_motor
;