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"
16 #include "libs/nuts_bolts.h"
18 #include "libs/StepperMotor.h"
19 #include "../communication/utils/Gcode.h"
20 #include "PublicDataRequest.h"
21 #include "arm_solutions/BaseSolution.h"
22 #include "arm_solutions/CartesianSolution.h"
23 #include "arm_solutions/RotatableCartesianSolution.h"
24 #include "arm_solutions/RostockSolution.h"
25 #include "arm_solutions/JohannKosselSolution.h"
26 #include "arm_solutions/HBotSolution.h"
28 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
29 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
30 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
31 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
32 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
33 #define arc_correction_checksum CHECKSUM("arc_correction")
34 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
35 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
36 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
39 #define arm_solution_checksum CHECKSUM("arm_solution")
40 #define cartesian_checksum CHECKSUM("cartesian")
41 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
42 #define rostock_checksum CHECKSUM("rostock")
43 #define delta_checksum CHECKSUM("delta")
44 #define hbot_checksum CHECKSUM("hbot")
45 #define corexy_checksum CHECKSUM("corexy")
46 #define kossel_checksum CHECKSUM("kossel")
48 // stepper motor stuff
49 #define alpha_step_pin_checksum CHECKSUM("alpha_step_pin")
50 #define beta_step_pin_checksum CHECKSUM("beta_step_pin")
51 #define gamma_step_pin_checksum CHECKSUM("gamma_step_pin")
52 #define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin")
53 #define beta_dir_pin_checksum CHECKSUM("beta_dir_pin")
54 #define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin")
55 #define alpha_en_pin_checksum CHECKSUM("alpha_en_pin")
56 #define beta_en_pin_checksum CHECKSUM("beta_en_pin")
57 #define gamma_en_pin_checksum CHECKSUM("gamma_en_pin")
59 #define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
60 #define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm")
61 #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
63 #define alpha_max_rate_checksum CHECKSUM("alpha_max_rate")
64 #define beta_max_rate_checksum CHECKSUM("beta_max_rate")
65 #define gamma_max_rate_checksum CHECKSUM("gamma_max_rate")
68 // new-style actuator stuff
69 #define actuator_checksum CHEKCSUM("actuator")
71 #define step_pin_checksum CHECKSUM("step_pin")
72 #define dir_pin_checksum CHEKCSUM("dir_pin")
73 #define en_pin_checksum CHECKSUM("en_pin")
75 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
76 #define max_rate_checksum CHECKSUM("max_rate")
78 #define alpha_checksum CHECKSUM("alpha")
79 #define beta_checksum CHECKSUM("beta")
80 #define gamma_checksum CHECKSUM("gamma")
83 // 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
84 // It takes care of cutting arcs into segments, same thing for line that are too long
85 #define max(a,b) (((a) > (b)) ? (a) : (b))
88 this->inch_mode
= false;
89 this->absolute_mode
= true;
90 this->motion_mode
= MOTION_MODE_SEEK
;
91 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
92 clear_vector(this->current_position
);
93 clear_vector(this->last_milestone
);
94 this->arm_solution
= NULL
;
95 seconds_per_minute
= 60.0;
98 //Called when the module has just been loaded
99 void Robot::on_module_loaded() {
100 register_for_event(ON_CONFIG_RELOAD
);
101 this->register_for_event(ON_GCODE_RECEIVED
);
102 this->register_for_event(ON_GET_PUBLIC_DATA
);
103 this->register_for_event(ON_SET_PUBLIC_DATA
);
106 this->on_config_reload(this);
109 void Robot::on_config_reload(void* argument
){
111 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
112 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
113 // To make adding those solution easier, they have their own, separate object.
114 // Here we read the config to find out which arm solution to use
115 if (this->arm_solution
) delete this->arm_solution
;
116 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
117 // Note checksums are not const expressions when in debug mode, so don't use switch
118 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
119 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
121 }else if(solution_checksum
== rostock_checksum
) {
122 this->arm_solution
= new RostockSolution(THEKERNEL
->config
);
124 }else if(solution_checksum
== kossel_checksum
) {
125 this->arm_solution
= new JohannKosselSolution(THEKERNEL
->config
);
127 }else if(solution_checksum
== delta_checksum
) {
128 // place holder for now
129 this->arm_solution
= new RostockSolution(THEKERNEL
->config
);
131 }else if(solution_checksum
== rotatable_cartesian_checksum
) {
132 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
134 }else if(solution_checksum
== cartesian_checksum
) {
135 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
138 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
142 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default(100 )->as_number() / 60;
143 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default(100 )->as_number() / 60;
144 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default(0.0f
)->as_number();
145 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
146 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default(0.5f
)->as_number();
147 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default(5 )->as_number();
149 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000 )->as_number();
150 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000 )->as_number();
151 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default(300 )->as_number();
163 alpha_step_pin
.from_string( THEKERNEL
->config
->value(alpha_step_pin_checksum
)->by_default("2.0" )->as_string())->as_output();
164 alpha_dir_pin
.from_string( THEKERNEL
->config
->value(alpha_dir_pin_checksum
)->by_default("0.5" )->as_string())->as_output();
165 alpha_en_pin
.from_string( THEKERNEL
->config
->value(alpha_en_pin_checksum
)->by_default("0.4" )->as_string())->as_output();
166 beta_step_pin
.from_string( THEKERNEL
->config
->value(beta_step_pin_checksum
)->by_default("2.1" )->as_string())->as_output();
167 beta_dir_pin
.from_string( THEKERNEL
->config
->value(beta_dir_pin_checksum
)->by_default("0.11" )->as_string())->as_output();
168 beta_en_pin
.from_string( THEKERNEL
->config
->value(beta_en_pin_checksum
)->by_default("0.10" )->as_string())->as_output();
169 gamma_step_pin
.from_string( THEKERNEL
->config
->value(gamma_step_pin_checksum
)->by_default("2.2" )->as_string())->as_output();
170 gamma_dir_pin
.from_string( THEKERNEL
->config
->value(gamma_dir_pin_checksum
)->by_default("0.20" )->as_string())->as_output();
171 gamma_en_pin
.from_string( THEKERNEL
->config
->value(gamma_en_pin_checksum
)->by_default("0.19" )->as_string())->as_output();
173 float steps_per_mm
[3] = {
174 THEKERNEL
->config
->value(alpha_steps_per_mm_checksum
)->by_default( 80.0F
)->as_number(),
175 THEKERNEL
->config
->value(beta_steps_per_mm_checksum
)->by_default( 80.0F
)->as_number(),
176 THEKERNEL
->config
->value(gamma_steps_per_mm_checksum
)->by_default(2560.0F
)->as_number(),
179 // TODO: delete or detect old steppermotors
180 // Make our 3 StepperMotors
181 this->alpha_stepper_motor
= THEKERNEL
->step_ticker
->add_stepper_motor( new StepperMotor(alpha_step_pin
, alpha_dir_pin
, alpha_en_pin
) );
182 this->beta_stepper_motor
= THEKERNEL
->step_ticker
->add_stepper_motor( new StepperMotor(beta_step_pin
, beta_dir_pin
, beta_en_pin
) );
183 this->gamma_stepper_motor
= THEKERNEL
->step_ticker
->add_stepper_motor( new StepperMotor(gamma_step_pin
, gamma_dir_pin
, gamma_en_pin
) );
185 alpha_stepper_motor
->change_steps_per_mm(steps_per_mm
[0]);
186 beta_stepper_motor
->change_steps_per_mm(steps_per_mm
[1]);
187 gamma_stepper_motor
->change_steps_per_mm(steps_per_mm
[2]);
189 alpha_stepper_motor
->max_rate
= THEKERNEL
->config
->value(alpha_max_rate_checksum
)->by_default(30000.0F
)->as_number() / 60.0F
;
190 beta_stepper_motor
->max_rate
= THEKERNEL
->config
->value(beta_max_rate_checksum
)->by_default(30000.0F
)->as_number() / 60.0F
;
191 gamma_stepper_motor
->max_rate
= THEKERNEL
->config
->value(gamma_max_rate_checksum
)->by_default(30000.0F
)->as_number() / 60.0F
;
194 actuators
.push_back(alpha_stepper_motor
);
195 actuators
.push_back(beta_stepper_motor
);
196 actuators
.push_back(gamma_stepper_motor
);
199 void Robot::on_get_public_data(void* argument
){
200 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
202 if(!pdr
->starts_with(robot_checksum
)) return;
204 if(pdr
->second_element_is(speed_override_percent_checksum
)) {
205 static float return_data
;
206 return_data
= 100*this->seconds_per_minute
/60;
207 pdr
->set_data_ptr(&return_data
);
210 }else if(pdr
->second_element_is(current_position_checksum
)) {
211 static float return_data
[3];
212 return_data
[0]= from_millimeters(this->current_position
[0]);
213 return_data
[1]= from_millimeters(this->current_position
[1]);
214 return_data
[2]= from_millimeters(this->current_position
[2]);
216 pdr
->set_data_ptr(&return_data
);
221 void Robot::on_set_public_data(void* argument
){
222 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
224 if(!pdr
->starts_with(robot_checksum
)) return;
226 if(pdr
->second_element_is(speed_override_percent_checksum
)) {
227 // NOTE do not use this while printing!
228 float t
= *static_cast<float*>(pdr
->get_data_ptr());
229 // enforce minimum 10% speed
230 if (t
< 10.0) t
= 10.0;
232 this->seconds_per_minute
= t
* 0.6;
237 //A GCode has been received
238 //See if the current Gcode line has some orders for us
239 void Robot::on_gcode_received(void * argument
){
240 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
242 //Temp variables, constant properties are stored in the object
243 uint8_t next_action
= NEXT_ACTION_DEFAULT
;
244 this->motion_mode
= -1;
246 //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly
249 case 0: this->motion_mode
= MOTION_MODE_SEEK
; gcode
->mark_as_taken(); break;
250 case 1: this->motion_mode
= MOTION_MODE_LINEAR
; gcode
->mark_as_taken(); break;
251 case 2: this->motion_mode
= MOTION_MODE_CW_ARC
; gcode
->mark_as_taken(); break;
252 case 3: this->motion_mode
= MOTION_MODE_CCW_ARC
; gcode
->mark_as_taken(); break;
253 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); gcode
->mark_as_taken(); break;
254 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); gcode
->mark_as_taken(); break;
255 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); gcode
->mark_as_taken(); break;
256 case 20: this->inch_mode
= true; gcode
->mark_as_taken(); break;
257 case 21: this->inch_mode
= false; gcode
->mark_as_taken(); break;
258 case 90: this->absolute_mode
= true; gcode
->mark_as_taken(); break;
259 case 91: this->absolute_mode
= false; gcode
->mark_as_taken(); break;
261 if(gcode
->get_num_args() == 0){
262 clear_vector(this->last_milestone
);
264 for (char letter
= 'X'; letter
<= 'Z'; letter
++){
265 if ( gcode
->has_letter(letter
) )
266 this->last_milestone
[letter
-'X'] = this->to_millimeters(gcode
->get_value(letter
));
269 memcpy(this->current_position
, this->last_milestone
, sizeof(float)*3); // current_position[] = last_milestone[];
271 // TODO: handle any number of actuators
272 float actuator_pos
[3];
273 arm_solution
->cartesian_to_actuator(current_position
, actuator_pos
);
275 for (int i
= 0; i
< 3; i
++)
276 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
278 gcode
->mark_as_taken();
282 }else if( gcode
->has_m
){
284 case 92: // M92 - set steps per mm
285 if (gcode
->has_letter('X'))
286 actuators
[0]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('X')));
287 if (gcode
->has_letter('Y'))
288 actuators
[1]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Y')));
289 if (gcode
->has_letter('Z'))
290 actuators
[2]->change_steps_per_mm(this->to_millimeters(gcode
->get_value('Z')));
291 if (gcode
->has_letter('F'))
292 seconds_per_minute
= gcode
->get_value('F');
294 gcode
->stream
->printf("X:%g Y:%g Z:%g F:%g ", actuators
[0]->steps_per_mm
, actuators
[1]->steps_per_mm
, actuators
[2]->steps_per_mm
, seconds_per_minute
);
295 gcode
->add_nl
= true;
296 gcode
->mark_as_taken();
298 case 114: gcode
->stream
->printf("C: X:%1.3f Y:%1.3f Z:%1.3f ",
299 from_millimeters(this->current_position
[0]),
300 from_millimeters(this->current_position
[1]),
301 from_millimeters(this->current_position
[2]));
302 gcode
->add_nl
= true;
303 gcode
->mark_as_taken();
306 // TODO I'm not sure if the following is safe to do here, or should it go on the block queue?
307 case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported
308 gcode
->mark_as_taken();
309 if (gcode
->has_letter('S'))
311 float acc
= gcode
->get_value('S') * 60 * 60; // mm/min^2
315 THEKERNEL
->planner
->acceleration
= acc
;
319 case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed
320 gcode
->mark_as_taken();
321 if (gcode
->has_letter('X'))
323 float jd
= gcode
->get_value('X');
327 THEKERNEL
->planner
->junction_deviation
= jd
;
329 if (gcode
->has_letter('S'))
331 float mps
= gcode
->get_value('S');
335 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
339 case 220: // M220 - speed override percentage
340 gcode
->mark_as_taken();
341 if (gcode
->has_letter('S'))
343 float factor
= gcode
->get_value('S');
344 // enforce minimum 10% speed
347 seconds_per_minute
= factor
* 0.6;
351 case 400: // wait until all moves are done up to this point
352 gcode
->mark_as_taken();
353 THEKERNEL
->conveyor
->wait_for_empty_queue();
356 case 500: // M500 saves some volatile settings to config override file
357 case 503: // M503 just prints the settings
358 gcode
->stream
->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", actuators
[0]->steps_per_mm
, actuators
[1]->steps_per_mm
, actuators
[2]->steps_per_mm
);
359 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL
->planner
->acceleration
/3600);
360 gcode
->stream
->printf(";X- Junction Deviation, S - Minimum Planner speed:\nM205 X%1.5f S%1.5f\n", THEKERNEL
->planner
->junction_deviation
, THEKERNEL
->planner
->minimum_planner_speed
);
361 gcode
->mark_as_taken();
364 case 665: // M665 set optional arm solution variables based on arm solution
365 gcode
->mark_as_taken();
366 // the parameter args could be any letter so try each one
367 for(char c
='A';c
<='Z';c
++) {
369 bool supported
= arm_solution
->get_optional(c
, &v
); // retrieve current value if supported
371 if(supported
&& gcode
->has_letter(c
)) { // set new value if supported
372 v
= gcode
->get_value(c
);
373 arm_solution
->set_optional(c
, v
);
375 if(supported
) { // print all current values of supported options
376 gcode
->stream
->printf("%c %8.3f ", c
, v
);
377 gcode
->add_nl
= true;
385 if( this->motion_mode
< 0)
389 float target
[3], offset
[3];
390 clear_vector(offset
);
392 memcpy(target
, this->current_position
, sizeof(target
)); //default to last target
394 for(char letter
= 'I'; letter
<= 'K'; letter
++){
395 if( gcode
->has_letter(letter
) ){
396 offset
[letter
-'I'] = this->to_millimeters(gcode
->get_value(letter
));
399 for(char letter
= 'X'; letter
<= 'Z'; letter
++){
400 if( gcode
->has_letter(letter
) ){
401 target
[letter
-'X'] = this->to_millimeters(gcode
->get_value(letter
)) + ( this->absolute_mode
? 0 : target
[letter
-'X']);
405 if( gcode
->has_letter('F') )
407 if( this->motion_mode
== MOTION_MODE_SEEK
)
408 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') ) / 60.0F
;
410 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') ) / 60.0F
;
413 //Perform any physical actions
414 switch( next_action
){
415 case NEXT_ACTION_DEFAULT
:
416 switch(this->motion_mode
){
417 case MOTION_MODE_CANCEL
: break;
418 case MOTION_MODE_SEEK
: this->append_line(gcode
, target
, this->seek_rate
); break;
419 case MOTION_MODE_LINEAR
: this->append_line(gcode
, target
, this->feed_rate
); break;
420 case MOTION_MODE_CW_ARC
: case MOTION_MODE_CCW_ARC
: this->compute_arc(gcode
, offset
, target
); break;
425 // As far as the parser is concerned, the position is now == target. In reality the
426 // motion control system might still be processing the action and the real tool position
427 // in any intermediate location.
428 memcpy(this->current_position
, target
, sizeof(this->current_position
)); // this->position[] = target[];
432 // We received a new gcode, and one of the functions
433 // determined the distance for that given gcode. So now we can attach this gcode to the right block
435 void Robot::distance_in_gcode_is_known(Gcode
* gcode
){
437 //If the queue is empty, execute immediatly, otherwise attach to the last added block
438 THEKERNEL
->conveyor
->append_gcode(gcode
);
441 // Reset the position for all axes ( used in homing and G92 stuff )
442 void Robot::reset_axis_position(float position
, int axis
) {
443 this->last_milestone
[axis
] = this->current_position
[axis
] = position
;
444 actuators
[axis
]->change_last_milestone(position
);
448 // Convert target from millimeters to steps, and append this to the planner
449 void Robot::append_milestone( float target
[], float rate
)
453 float actuator_pos
[3];
454 float millimeters_of_travel
;
456 // find distance moved by each axis
457 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++)
458 deltas
[axis
] = target
[axis
] - last_milestone
[axis
];
460 // Compute how long this move moves, so we can attach it to the block for later use
461 millimeters_of_travel
= sqrtf( pow( deltas
[X_AXIS
], 2 ) + pow( deltas
[Y_AXIS
], 2 ) + pow( deltas
[Z_AXIS
], 2 ) );
463 // find distance unit vector
464 for (int i
= 0; i
< 3; i
++)
465 unit_vec
[i
] = deltas
[i
] / millimeters_of_travel
;
467 // Do not move faster than the configured cartesian limits
468 for (int axis
= X_AXIS
; axis
<= Z_AXIS
; axis
++)
470 if ( max_speeds
[axis
] > 0 )
472 float axis_speed
= fabs(unit_vec
[axis
] * rate
) * seconds_per_minute
;
474 if (axis_speed
> max_speeds
[axis
])
475 rate
= rate
* ( max_speeds
[axis
] / axis_speed
);
479 // find actuator position given cartesian position
480 arm_solution
->cartesian_to_actuator( target
, actuator_pos
);
482 // check per-actuator speed limits
483 for (int actuator
= 0; actuator
<= 2; actuator
++)
485 float actuator_rate
= fabs(actuator_pos
[actuator
] - actuators
[actuator
]->last_milestone_mm
) * rate
/ millimeters_of_travel
;
487 if (actuator_rate
> actuators
[actuator
]->max_rate
)
488 rate
*= (actuators
[actuator
]->max_rate
/ actuator_rate
);
491 // Append the block to the planner
492 THEKERNEL
->planner
->append_block( actuator_pos
, rate
* seconds_per_minute
, millimeters_of_travel
, unit_vec
);
494 // Update the last_milestone to the current target for the next time we use last_milestone
495 memcpy(this->last_milestone
, target
, sizeof(this->last_milestone
)); // this->last_milestone[] = target[];
499 // Append a move to the queue ( cutting it into segments if needed )
500 void Robot::append_line(Gcode
* gcode
, float target
[], float rate
){
502 // Find out the distance for this gcode
503 gcode
->millimeters_of_travel
= sqrtf( pow( target
[X_AXIS
]-this->current_position
[X_AXIS
], 2 ) + pow( target
[Y_AXIS
]-this->current_position
[Y_AXIS
], 2 ) + pow( target
[Z_AXIS
]-this->current_position
[Z_AXIS
], 2 ) );
505 // We ignore non-moves ( for example, extruder moves are not XYZ moves )
506 if( gcode
->millimeters_of_travel
< 0.0001F
){
510 // Mark the gcode as having a known distance
511 this->distance_in_gcode_is_known( gcode
);
513 // We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes.
514 // In cartesian robot, a high "mm_per_line_segment" setting will prevent waste.
515 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second 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
518 if(this->delta_segments_per_second
> 1.0F
) {
519 // enabled if set to something > 1, it is set to 0.0 by default
520 // segment based on current speed and requested segments per second
521 // the faster the travel speed the fewer segments needed
522 // NOTE rate is mm/sec and we take into account any speed override
523 float seconds
= 60.0/seconds_per_minute
* gcode
->millimeters_of_travel
/ rate
;
524 segments
= max(1, ceil(this->delta_segments_per_second
* seconds
));
525 // TODO if we are only moving in Z on a delta we don't really need to segment at all
528 if(this->mm_per_line_segment
== 0.0F
){
529 segments
= 1; // don't split it up
531 segments
= ceil( gcode
->millimeters_of_travel
/ this->mm_per_line_segment
);
535 // A vector to keep track of the endpoint of each segment
536 float temp_target
[3];
538 memcpy( temp_target
, this->current_position
, sizeof(temp_target
)); // temp_target[] = this->current_position[];
541 for( int i
=0; i
<segments
-1; i
++ ){
542 for(int axis
=X_AXIS
; axis
<= Z_AXIS
; axis
++ ){ temp_target
[axis
] += ( target
[axis
]-this->current_position
[axis
] )/segments
; }
543 // Append the end of this segment to the queue
544 this->append_milestone(temp_target
, rate
);
547 // Append the end of this full move to the queue
548 this->append_milestone(target
, rate
);
550 // if adding these blocks didn't start executing, do that now
551 THEKERNEL
->conveyor
->ensure_running();
555 // Append an arc to the queue ( cutting it into segments as needed )
556 void Robot::append_arc(Gcode
* gcode
, float target
[], float offset
[], float radius
, bool is_clockwise
){
559 float center_axis0
= this->current_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
560 float center_axis1
= this->current_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
561 float linear_travel
= target
[this->plane_axis_2
] - this->current_position
[this->plane_axis_2
];
562 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
563 float r_axis1
= -offset
[this->plane_axis_1
];
564 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
565 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
567 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
568 float angular_travel
= atan2(r_axis0
*rt_axis1
-r_axis1
*rt_axis0
, r_axis0
*rt_axis0
+r_axis1
*rt_axis1
);
569 if (angular_travel
< 0) { angular_travel
+= 2*M_PI
; }
570 if (is_clockwise
) { angular_travel
-= 2*M_PI
; }
572 // Find the distance for this gcode
573 gcode
->millimeters_of_travel
= hypotf(angular_travel
*radius
, fabs(linear_travel
));
575 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
576 if( gcode
->millimeters_of_travel
< 0.0001F
){ return; }
578 // Mark the gcode as having a known distance
579 this->distance_in_gcode_is_known( gcode
);
581 // Figure out how many segments for this gcode
582 uint16_t segments
= floor(gcode
->millimeters_of_travel
/this->mm_per_arc_segment
);
584 float theta_per_segment
= angular_travel
/segments
;
585 float linear_per_segment
= linear_travel
/segments
;
587 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
588 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
589 r_T = [cos(phi) -sin(phi);
590 sin(phi) cos(phi] * r ;
591 For arc generation, the center of the circle is the axis of rotation and the radius vector is
592 defined from the circle center to the initial position. Each line segment is formed by successive
593 vector rotations. This requires only two cos() and sin() computations to form the rotation
594 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
595 all float numbers are single precision on the Arduino. (True float precision will not have
596 round off issues for CNC applications.) Single precision error can accumulate to be greater than
597 tool precision in some cases. Therefore, arc path correction is implemented.
599 Small angle approximation may be used to reduce computation overhead further. This approximation
600 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
601 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
602 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
603 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
604 issue for CNC machines with the single precision Arduino calculations.
605 This approximation also allows mc_arc to immediately insert a line segment into the planner
606 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
607 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
608 This is important when there are successive arc motions.
610 // Vector rotation matrix values
611 float cos_T
= 1-0.5F
*theta_per_segment
*theta_per_segment
; // Small angle approximation
612 float sin_T
= theta_per_segment
;
621 // Initialize the linear axis
622 arc_target
[this->plane_axis_2
] = this->current_position
[this->plane_axis_2
];
624 for (i
= 1; i
<segments
; i
++) { // Increment (segments-1)
626 if (count
< this->arc_correction
) {
627 // Apply vector rotation matrix
628 r_axisi
= r_axis0
*sin_T
+ r_axis1
*cos_T
;
629 r_axis0
= r_axis0
*cos_T
- r_axis1
*sin_T
;
633 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
634 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
635 cos_Ti
= cosf(i
*theta_per_segment
);
636 sin_Ti
= sinf(i
*theta_per_segment
);
637 r_axis0
= -offset
[this->plane_axis_0
]*cos_Ti
+ offset
[this->plane_axis_1
]*sin_Ti
;
638 r_axis1
= -offset
[this->plane_axis_0
]*sin_Ti
- offset
[this->plane_axis_1
]*cos_Ti
;
642 // Update arc_target location
643 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
644 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
645 arc_target
[this->plane_axis_2
] += linear_per_segment
;
647 // Append this segment to the queue
648 this->append_milestone(arc_target
, this->feed_rate
);
652 // Ensure last segment arrives at target location.
653 this->append_milestone(target
, this->feed_rate
);
656 // Do the math for an arc and add it to the queue
657 void Robot::compute_arc(Gcode
* gcode
, float offset
[], float target
[]){
660 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
662 // Set clockwise/counter-clockwise sign for mc_arc computations
663 bool is_clockwise
= false;
664 if( this->motion_mode
== MOTION_MODE_CW_ARC
){ is_clockwise
= true; }
667 this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
672 float Robot::theta(float x
, float y
){
673 float t
= atanf(x
/fabs(y
));
674 if (y
>0) {return(t
);} else {if (t
>0){return(M_PI
-t
);} else {return(-M_PI
-t
);}}
677 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
){
678 this->plane_axis_0
= axis_0
;
679 this->plane_axis_1
= axis_1
;
680 this->plane_axis_2
= axis_2
;