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()
44 #define default_seek_rate_checksum CHECKSUM("default_seek_rate")
45 #define default_feed_rate_checksum CHECKSUM("default_feed_rate")
46 #define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
47 #define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
48 #define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
49 #define mm_max_arc_error_checksum CHECKSUM("mm_max_arc_error")
50 #define arc_correction_checksum CHECKSUM("arc_correction")
51 #define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
52 #define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
53 #define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
54 #define segment_z_moves_checksum CHECKSUM("segment_z_moves")
55 #define save_g92_checksum CHECKSUM("save_g92")
56 #define set_g92_checksum CHECKSUM("set_g92")
59 #define arm_solution_checksum CHECKSUM("arm_solution")
60 #define cartesian_checksum CHECKSUM("cartesian")
61 #define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
62 #define rostock_checksum CHECKSUM("rostock")
63 #define linear_delta_checksum CHECKSUM("linear_delta")
64 #define rotary_delta_checksum CHECKSUM("rotary_delta")
65 #define delta_checksum CHECKSUM("delta")
66 #define hbot_checksum CHECKSUM("hbot")
67 #define corexy_checksum CHECKSUM("corexy")
68 #define corexz_checksum CHECKSUM("corexz")
69 #define kossel_checksum CHECKSUM("kossel")
70 #define morgan_checksum CHECKSUM("morgan")
72 // new-style actuator stuff
73 #define actuator_checksum CHEKCSUM("actuator")
75 #define step_pin_checksum CHECKSUM("step_pin")
76 #define dir_pin_checksum CHEKCSUM("dir_pin")
77 #define en_pin_checksum CHECKSUM("en_pin")
79 #define steps_per_mm_checksum CHECKSUM("steps_per_mm")
80 #define max_rate_checksum CHECKSUM("max_rate")
81 #define acceleration_checksum CHECKSUM("acceleration")
82 #define z_acceleration_checksum CHECKSUM("z_acceleration")
84 #define alpha_checksum CHECKSUM("alpha")
85 #define beta_checksum CHECKSUM("beta")
86 #define gamma_checksum CHECKSUM("gamma")
88 #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
90 #define ARC_ANGULAR_TRAVEL_EPSILON 5E-7F // Float (radians)
91 #define PI 3.14159265358979323846F // force to be float, do not use M_PI
93 // 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
94 // It takes care of cutting arcs into segments, same thing for line that are too long
98 this->inch_mode
= false;
99 this->absolute_mode
= true;
100 this->e_absolute_mode
= true;
101 this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
);
102 memset(this->machine_position
, 0, sizeof machine_position
);
103 memset(this->compensated_machine_position
, 0, sizeof compensated_machine_position
);
104 this->arm_solution
= NULL
;
105 seconds_per_minute
= 60.0F
;
106 this->clearToolOffset();
107 this->compensationTransform
= nullptr;
108 this->get_e_scale_fnc
= nullptr;
109 this->wcs_offsets
.fill(wcs_t(0.0F
, 0.0F
, 0.0F
));
110 this->g92_offset
= wcs_t(0.0F
, 0.0F
, 0.0F
);
111 this->next_command_is_MCS
= false;
112 this->disable_segmentation
= false;
113 this->disable_arm_solution
= false;
117 //Called when the module has just been loaded
118 void Robot::on_module_loaded()
120 this->register_for_event(ON_GCODE_RECEIVED
);
126 #define ACTUATOR_CHECKSUMS(X) { \
127 CHECKSUM(X "_step_pin"), \
128 CHECKSUM(X "_dir_pin"), \
129 CHECKSUM(X "_en_pin"), \
130 CHECKSUM(X "_steps_per_mm"), \
131 CHECKSUM(X "_max_rate"), \
132 CHECKSUM(X "_acceleration") \
135 void Robot::load_config()
137 // Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
138 // While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
139 // To make adding those solution easier, they have their own, separate object.
140 // Here we read the config to find out which arm solution to use
141 if (this->arm_solution
) delete this->arm_solution
;
142 int solution_checksum
= get_checksum(THEKERNEL
->config
->value(arm_solution_checksum
)->by_default("cartesian")->as_string());
143 // Note checksums are not const expressions when in debug mode, so don't use switch
144 if(solution_checksum
== hbot_checksum
|| solution_checksum
== corexy_checksum
) {
145 this->arm_solution
= new HBotSolution(THEKERNEL
->config
);
147 } else if(solution_checksum
== corexz_checksum
) {
148 this->arm_solution
= new CoreXZSolution(THEKERNEL
->config
);
150 } else if(solution_checksum
== rostock_checksum
|| solution_checksum
== kossel_checksum
|| solution_checksum
== delta_checksum
|| solution_checksum
== linear_delta_checksum
) {
151 this->arm_solution
= new LinearDeltaSolution(THEKERNEL
->config
);
153 } else if(solution_checksum
== rotatable_cartesian_checksum
) {
154 this->arm_solution
= new RotatableCartesianSolution(THEKERNEL
->config
);
156 } else if(solution_checksum
== rotary_delta_checksum
) {
157 this->arm_solution
= new RotaryDeltaSolution(THEKERNEL
->config
);
159 } else if(solution_checksum
== morgan_checksum
) {
160 this->arm_solution
= new MorganSCARASolution(THEKERNEL
->config
);
162 } else if(solution_checksum
== cartesian_checksum
) {
163 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
166 this->arm_solution
= new CartesianSolution(THEKERNEL
->config
);
169 this->feed_rate
= THEKERNEL
->config
->value(default_feed_rate_checksum
)->by_default( 100.0F
)->as_number();
170 this->seek_rate
= THEKERNEL
->config
->value(default_seek_rate_checksum
)->by_default( 100.0F
)->as_number();
171 this->mm_per_line_segment
= THEKERNEL
->config
->value(mm_per_line_segment_checksum
)->by_default( 0.0F
)->as_number();
172 this->delta_segments_per_second
= THEKERNEL
->config
->value(delta_segments_per_second_checksum
)->by_default(0.0f
)->as_number();
173 this->mm_per_arc_segment
= THEKERNEL
->config
->value(mm_per_arc_segment_checksum
)->by_default( 0.0f
)->as_number();
174 this->mm_max_arc_error
= THEKERNEL
->config
->value(mm_max_arc_error_checksum
)->by_default( 0.01f
)->as_number();
175 this->arc_correction
= THEKERNEL
->config
->value(arc_correction_checksum
)->by_default( 5 )->as_number();
177 // in mm/sec but specified in config as mm/min
178 this->max_speeds
[X_AXIS
] = THEKERNEL
->config
->value(x_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
179 this->max_speeds
[Y_AXIS
] = THEKERNEL
->config
->value(y_axis_max_speed_checksum
)->by_default(60000.0F
)->as_number() / 60.0F
;
180 this->max_speeds
[Z_AXIS
] = THEKERNEL
->config
->value(z_axis_max_speed_checksum
)->by_default( 300.0F
)->as_number() / 60.0F
;
182 this->segment_z_moves
= THEKERNEL
->config
->value(segment_z_moves_checksum
)->by_default(true)->as_bool();
183 this->save_g92
= THEKERNEL
->config
->value(save_g92_checksum
)->by_default(false)->as_bool();
184 string g92
= THEKERNEL
->config
->value(set_g92_checksum
)->by_default("")->as_string();
186 // optional setting for a fixed G92 offset
187 std::vector
<float> t
= parse_number_list(g92
.c_str());
189 g92_offset
= wcs_t(t
[0], t
[1], t
[2]);
193 // default s value for laser
194 this->s_value
= THEKERNEL
->config
->value(laser_module_default_power_checksum
)->by_default(0.8F
)->as_number();
196 // Make our Primary XYZ StepperMotors, and potentially A B C
197 uint16_t const checksums
[][6] = {
198 ACTUATOR_CHECKSUMS("alpha"), // X
199 ACTUATOR_CHECKSUMS("beta"), // Y
200 ACTUATOR_CHECKSUMS("gamma"), // Z
201 #if MAX_ROBOT_ACTUATORS > 3
202 ACTUATOR_CHECKSUMS("delta"), // A
203 #if MAX_ROBOT_ACTUATORS > 4
204 ACTUATOR_CHECKSUMS("epsilon"), // B
205 #if MAX_ROBOT_ACTUATORS > 5
206 ACTUATOR_CHECKSUMS("zeta") // C
212 // default acceleration setting, can be overriden with newer per axis settings
213 this->default_acceleration
= THEKERNEL
->config
->value(acceleration_checksum
)->by_default(100.0F
)->as_number(); // Acceleration is in mm/s^2
216 for (size_t a
= 0; a
< MAX_ROBOT_ACTUATORS
; a
++) {
217 Pin pins
[3]; //step, dir, enable
218 for (size_t i
= 0; i
< 3; i
++) {
219 pins
[i
].from_string(THEKERNEL
->config
->value(checksums
[a
][i
])->by_default("nc")->as_string())->as_output();
222 if(!pins
[0].connected() || !pins
[1].connected() || !pins
[2].connected()) {
223 if(a
<= Z_AXIS
) THEKERNEL
->streams
->printf("FATAL: motor %d is not defined in config\n", 'X'+a
);
224 break; // if any pin is not defined then the axis is not defined (and axis need to be defined in contiguous order)
227 StepperMotor
*sm
= new StepperMotor(pins
[0], pins
[1], pins
[2]);
228 // register this motor (NB This must be 0,1,2) of the actuators array
229 uint8_t n
= register_motor(sm
);
231 // this is a fatal error
232 THEKERNEL
->streams
->printf("FATAL: motor %d does not match index %d\n", n
, a
);
236 actuators
[a
]->change_steps_per_mm(THEKERNEL
->config
->value(checksums
[a
][3])->by_default(a
== 2 ? 2560.0F
: 80.0F
)->as_number());
237 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
238 actuators
[a
]->set_acceleration(THEKERNEL
->config
->value(checksums
[a
][5])->by_default(NAN
)->as_number()); // mm/secs²
241 check_max_actuator_speeds(); // check the configs are sane
243 // if we have not specified a z acceleration see if the legacy config was set
244 if(isnan(actuators
[Z_AXIS
]->get_acceleration())) {
245 float acc
= THEKERNEL
->config
->value(z_acceleration_checksum
)->by_default(NAN
)->as_number(); // disabled by default
247 actuators
[Z_AXIS
]->set_acceleration(acc
);
251 // initialise actuator positions to current cartesian position (X0 Y0 Z0)
252 // so the first move can be correct if homing is not performed
253 ActuatorCoordinates actuator_pos
;
254 arm_solution
->cartesian_to_actuator(machine_position
, actuator_pos
);
255 for (size_t i
= 0; i
< n_motors
; i
++)
256 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
258 //this->clearToolOffset();
261 uint8_t Robot::register_motor(StepperMotor
*motor
)
263 // register this motor with the step ticker
264 THEKERNEL
->step_ticker
->register_motor(motor
);
265 if(n_motors
>= k_max_actuators
) {
266 // this is a fatal error
267 THEKERNEL
->streams
->printf("FATAL: too many motors, increase k_max_actuators\n");
270 actuators
.push_back(motor
);
271 motor
->set_motor_id(n_motors
);
275 void Robot::push_state()
277 bool am
= this->absolute_mode
;
278 bool em
= this->e_absolute_mode
;
279 bool im
= this->inch_mode
;
280 saved_state_t
s(this->feed_rate
, this->seek_rate
, am
, em
, im
, current_wcs
);
284 void Robot::pop_state()
286 if(!state_stack
.empty()) {
287 auto s
= state_stack
.top();
289 this->feed_rate
= std::get
<0>(s
);
290 this->seek_rate
= std::get
<1>(s
);
291 this->absolute_mode
= std::get
<2>(s
);
292 this->e_absolute_mode
= std::get
<3>(s
);
293 this->inch_mode
= std::get
<4>(s
);
294 this->current_wcs
= std::get
<5>(s
);
298 std::vector
<Robot::wcs_t
> Robot::get_wcs_state() const
300 std::vector
<wcs_t
> v
;
301 v
.push_back(wcs_t(current_wcs
, MAX_WCS
, 0));
302 for(auto& i
: wcs_offsets
) {
305 v
.push_back(g92_offset
);
306 v
.push_back(tool_offset
);
310 void Robot::get_current_machine_position(float *pos
) const
312 // get real time current actuator position in mm
313 ActuatorCoordinates current_position
{
314 actuators
[X_AXIS
]->get_current_position(),
315 actuators
[Y_AXIS
]->get_current_position(),
316 actuators
[Z_AXIS
]->get_current_position()
319 // get machine position from the actuator position using FK
320 arm_solution
->actuator_to_cartesian(current_position
, pos
);
323 int Robot::print_position(uint8_t subcode
, char *buf
, size_t bufsize
) const
325 // M114.1 is a new way to do this (similar to how GRBL does it).
326 // it returns the realtime position based on the current step position of the actuators.
327 // this does require a FK to get a machine position from the actuator position
328 // and then invert all the transforms to get a workspace position from machine position
329 // M114 just does it the old way uses machine_position and does inverse transforms to get the requested position
331 if(subcode
== 0) { // M114 print WCS
332 wcs_t pos
= mcs2wcs(machine_position
);
333 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
)));
335 } else if(subcode
== 4) {
336 // M114.4 print last milestone
337 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
]);
339 } else if(subcode
== 5) {
340 // M114.5 print last machine position (which should be the same as M114.1 if axis are not moving and no level compensation)
341 // will differ from LMS by the compensation at the current position otherwise
342 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
]);
345 // get real time positions
347 get_current_machine_position(mpos
);
349 // current_position/mpos includes the compensation transform so we need to get the inverse to get actual position
350 if(compensationTransform
) compensationTransform(mpos
, true); // get inverse compensation transform
352 if(subcode
== 1) { // M114.1 print realtime WCS
353 wcs_t pos
= mcs2wcs(mpos
);
354 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
)));
356 } else if(subcode
== 2) { // M114.2 print realtime Machine coordinate system
357 n
= snprintf(buf
, bufsize
, "MCS: X:%1.4f Y:%1.4f Z:%1.4f", mpos
[X_AXIS
], mpos
[Y_AXIS
], mpos
[Z_AXIS
]);
359 } else if(subcode
== 3) { // M114.3 print realtime actuator position
360 // get real time current actuator position in mm
361 ActuatorCoordinates current_position
{
362 actuators
[X_AXIS
]->get_current_position(),
363 actuators
[Y_AXIS
]->get_current_position(),
364 actuators
[Z_AXIS
]->get_current_position()
366 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
]);
370 #if MAX_ROBOT_ACTUATORS > 3
371 // deal with the ABC axis
372 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
373 if(actuators
[i
]->is_extruder()) continue; // don't show an extruder as that will be E
374 if(subcode
== 4) { // M114.4 print last milestone
375 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, machine_position
[i
]);
377 }else if(subcode
== 2 || subcode
== 3) { // M114.2/M114.3 print actuator position which is the same as machine position for ABC
378 // current actuator position
379 n
+= snprintf(&buf
[n
], bufsize
-n
, " %c:%1.4f", 'A'+i
-A_AXIS
, actuators
[i
]->get_current_position());
387 // converts current last milestone (machine position without compensation transform) to work coordinate system (inverse transform)
388 Robot::wcs_t
Robot::mcs2wcs(const Robot::wcs_t
& pos
) const
390 return std::make_tuple(
391 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
),
392 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
),
393 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
)
397 // this does a sanity check that actuator speeds do not exceed steps rate capability
398 // we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
399 void Robot::check_max_actuator_speeds()
401 for (size_t i
= 0; i
< n_motors
; i
++) {
402 float step_freq
= actuators
[i
]->get_max_rate() * actuators
[i
]->get_steps_per_mm();
403 if (step_freq
> THEKERNEL
->base_stepping_frequency
) {
404 actuators
[i
]->set_max_rate(floorf(THEKERNEL
->base_stepping_frequency
/ actuators
[i
]->get_steps_per_mm()));
405 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());
410 //A GCode has been received
411 //See if the current Gcode line has some orders for us
412 void Robot::on_gcode_received(void *argument
)
414 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
416 enum MOTION_MODE_T motion_mode
= NONE
;
420 case 0: motion_mode
= SEEK
; break;
421 case 1: motion_mode
= LINEAR
; break;
422 case 2: motion_mode
= CW_ARC
; break;
423 case 3: motion_mode
= CCW_ARC
; break;
424 case 4: { // G4 Dwell
425 uint32_t delay_ms
= 0;
426 if (gcode
->has_letter('P')) {
427 if(THEKERNEL
->is_grbl_mode()) {
428 // in grbl mode (and linuxcnc) P is decimal seconds
429 float f
= gcode
->get_value('P');
430 delay_ms
= f
* 1000.0F
;
433 // in reprap P is milliseconds, they always have to be different!
434 delay_ms
= gcode
->get_int('P');
437 if (gcode
->has_letter('S')) {
438 delay_ms
+= gcode
->get_int('S') * 1000;
442 THEKERNEL
->conveyor
->wait_for_idle();
443 // wait for specified time
444 uint32_t start
= us_ticker_read(); // mbed call
445 while ((us_ticker_read() - start
) < delay_ms
* 1000) {
446 THEKERNEL
->call_event(ON_IDLE
, this);
447 if(THEKERNEL
->is_halted()) return;
453 case 10: // G10 L2 [L20] Pn Xn Yn Zn set WCS
454 if(gcode
->has_letter('L') && (gcode
->get_int('L') == 2 || gcode
->get_int('L') == 20) && gcode
->has_letter('P')) {
455 size_t n
= gcode
->get_uint('P');
456 if(n
== 0) n
= current_wcs
; // set current coordinate system
460 std::tie(x
, y
, z
) = wcs_offsets
[n
];
461 if(gcode
->get_int('L') == 20) {
462 // this makes the current machine position (less compensation transform) the offset
463 // get current position in WCS
464 wcs_t pos
= mcs2wcs(machine_position
);
466 if(gcode
->has_letter('X')){
467 x
-= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
470 if(gcode
->has_letter('Y')){
471 y
-= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
473 if(gcode
->has_letter('Z')) {
474 z
-= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
479 // the value is the offset from machine zero
480 if(gcode
->has_letter('X')) x
= to_millimeters(gcode
->get_value('X'));
481 if(gcode
->has_letter('Y')) y
= to_millimeters(gcode
->get_value('Y'));
482 if(gcode
->has_letter('Z')) z
= to_millimeters(gcode
->get_value('Z'));
484 if(gcode
->has_letter('X')) x
+= to_millimeters(gcode
->get_value('X'));
485 if(gcode
->has_letter('Y')) y
+= to_millimeters(gcode
->get_value('Y'));
486 if(gcode
->has_letter('Z')) z
+= to_millimeters(gcode
->get_value('Z'));
489 wcs_offsets
[n
] = wcs_t(x
, y
, z
);
494 case 17: this->select_plane(X_AXIS
, Y_AXIS
, Z_AXIS
); break;
495 case 18: this->select_plane(X_AXIS
, Z_AXIS
, Y_AXIS
); break;
496 case 19: this->select_plane(Y_AXIS
, Z_AXIS
, X_AXIS
); break;
497 case 20: this->inch_mode
= true; break;
498 case 21: this->inch_mode
= false; break;
500 case 54: case 55: case 56: case 57: case 58: case 59:
501 // select WCS 0-8: G54..G59, G59.1, G59.2, G59.3
502 current_wcs
= gcode
->g
- 54;
503 if(gcode
->g
== 59 && gcode
->subcode
> 0) {
504 current_wcs
+= gcode
->subcode
;
505 if(current_wcs
>= MAX_WCS
) current_wcs
= MAX_WCS
- 1;
509 case 90: this->absolute_mode
= true; this->e_absolute_mode
= true; break;
510 case 91: this->absolute_mode
= false; this->e_absolute_mode
= false; break;
513 if(gcode
->subcode
== 1 || gcode
->subcode
== 2 || gcode
->get_num_args() == 0) {
514 // reset G92 offsets to 0
515 g92_offset
= wcs_t(0, 0, 0);
517 } else if(gcode
->subcode
== 3) {
518 // initialize G92 to the specified values, only used for saving it with M500
519 float x
= 0, y
= 0, z
= 0;
520 if(gcode
->has_letter('X')) x
= gcode
->get_value('X');
521 if(gcode
->has_letter('Y')) y
= gcode
->get_value('Y');
522 if(gcode
->has_letter('Z')) z
= gcode
->get_value('Z');
523 g92_offset
= wcs_t(x
, y
, z
);
526 // standard setting of the g92 offsets, making current WCS position whatever the coordinate arguments are
528 std::tie(x
, y
, z
) = g92_offset
;
529 // get current position in WCS
530 wcs_t pos
= mcs2wcs(machine_position
);
532 // adjust g92 offset to make the current wpos == the value requested
533 if(gcode
->has_letter('X')){
534 x
+= to_millimeters(gcode
->get_value('X')) - std::get
<X_AXIS
>(pos
);
536 if(gcode
->has_letter('Y')){
537 y
+= to_millimeters(gcode
->get_value('Y')) - std::get
<Y_AXIS
>(pos
);
539 if(gcode
->has_letter('Z')) {
540 z
+= to_millimeters(gcode
->get_value('Z')) - std::get
<Z_AXIS
>(pos
);
542 g92_offset
= wcs_t(x
, y
, z
);
545 #if MAX_ROBOT_ACTUATORS > 3
546 if(gcode
->subcode
== 0 && (gcode
->has_letter('E') || gcode
->get_num_args() == 0)){
547 // reset the E position, legacy for 3d Printers to be reprap compatible
548 // find the selected extruder
549 int selected_extruder
= get_active_extruder();
550 if(selected_extruder
> 0) {
551 float e
= gcode
->has_letter('E') ? gcode
->get_value('E') : 0;
552 machine_position
[selected_extruder
]= compensated_machine_position
[selected_extruder
]= e
;
553 actuators
[selected_extruder
]->change_last_milestone(get_e_scale_fnc
? e
*get_e_scale_fnc() : e
);
562 } else if( gcode
->has_m
) {
564 // case 0: // M0 feed hold, (M0.1 is release feed hold, except we are in feed hold)
565 // if(THEKERNEL->is_grbl_mode()) THEKERNEL->set_feed_hold(gcode->subcode == 0);
568 case 30: // M30 end of program in grbl mode (otherwise it is delete sdcard file)
569 if(!THEKERNEL
->is_grbl_mode()) break;
570 // fall through to M2
571 case 2: // M2 end of program
573 absolute_mode
= true;
576 THEKERNEL
->call_event(ON_ENABLE
, (void*)1); // turn all enable pins on
579 case 18: // this allows individual motors to be turned off, no parameters falls through to turn all off
580 if(gcode
->get_num_args() > 0) {
581 // bitmap of motors to turn off, where bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C
583 for (int i
= 0; i
< n_motors
; ++i
) {
584 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-3));
585 if(gcode
->has_letter(axis
)) bm
|= (0x02<<i
); // set appropriate bit
587 // handle E parameter as currently selected extruder ABC
588 if(gcode
->has_letter('E')) {
589 // find first selected extruder
590 int i
= get_active_extruder();
592 bm
|= (0x02<<i
); // set appropriate bit
596 THEKERNEL
->conveyor
->wait_for_idle();
597 THEKERNEL
->call_event(ON_ENABLE
, (void *)bm
);
602 THEKERNEL
->conveyor
->wait_for_idle();
603 THEKERNEL
->call_event(ON_ENABLE
, nullptr); // turn all enable pins off
606 case 82: e_absolute_mode
= true; break;
607 case 83: e_absolute_mode
= false; break;
609 case 92: // M92 - set steps per mm
610 for (int i
= 0; i
< n_motors
; ++i
) {
611 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
612 if(gcode
->has_letter(axis
)) {
613 actuators
[i
]->change_steps_per_mm(this->to_millimeters(gcode
->get_value(axis
)));
615 gcode
->stream
->printf("%c:%f ", axis
, actuators
[i
]->get_steps_per_mm());
617 gcode
->add_nl
= true;
618 check_max_actuator_speeds();
623 int n
= print_position(gcode
->subcode
, buf
, sizeof buf
);
624 if(n
> 0) gcode
->txt_after_ok
.append(buf
, n
);
628 case 120: // push state
632 case 121: // pop state
636 case 203: // M203 Set maximum feedrates in mm/sec, M203.1 set maximum actuator feedrates
637 if(gcode
->get_num_args() == 0) {
638 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
639 gcode
->stream
->printf(" %c: %g ", 'X' + i
, gcode
->subcode
== 0 ? this->max_speeds
[i
] : actuators
[i
]->get_max_rate());
641 if(gcode
->subcode
== 1) {
642 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
643 gcode
->stream
->printf(" %c: %g ", 'A' + i
- A_AXIS
, actuators
[i
]->get_max_rate());
647 gcode
->add_nl
= true;
650 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
651 if (gcode
->has_letter('X' + i
)) {
652 float v
= gcode
->get_value('X'+i
);
653 if(gcode
->subcode
== 0) this->max_speeds
[i
]= v
;
654 else if(gcode
->subcode
== 1) actuators
[i
]->set_max_rate(v
);
658 if(gcode
->subcode
== 1) {
659 // ABC axis only handle actuator max speeds
660 for (size_t i
= A_AXIS
; i
< n_motors
; i
++) {
661 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
662 int c
= 'A' + i
- A_AXIS
;
663 if(gcode
->has_letter(c
)) {
664 float v
= gcode
->get_value(c
);
665 actuators
[i
]->set_max_rate(v
);
671 // this format is deprecated
672 if(gcode
->subcode
== 0 && (gcode
->has_letter('A') || gcode
->has_letter('B') || gcode
->has_letter('C'))) {
673 gcode
->stream
->printf("NOTE this format is deprecated, Use M203.1 instead\n");
674 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
675 if (gcode
->has_letter('A' + i
)) {
676 float v
= gcode
->get_value('A'+i
);
677 actuators
[i
]->set_max_rate(v
);
682 if(gcode
->subcode
== 1) check_max_actuator_speeds();
686 case 204: // M204 Snnn - set default acceleration to nnn, Xnnn Ynnn Znnn sets axis specific acceleration
687 if (gcode
->has_letter('S')) {
688 float acc
= gcode
->get_value('S'); // mm/s^2
690 if (acc
< 1.0F
) acc
= 1.0F
;
691 this->default_acceleration
= acc
;
693 for (int i
= 0; i
< n_motors
; ++i
) {
694 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
695 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
696 if(gcode
->has_letter(axis
)) {
697 float acc
= gcode
->get_value(axis
); // mm/s^2
699 if (acc
<= 0.0F
) acc
= NAN
;
700 actuators
[i
]->set_acceleration(acc
);
705 case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed
706 if (gcode
->has_letter('X')) {
707 float jd
= gcode
->get_value('X');
711 THEKERNEL
->planner
->junction_deviation
= jd
;
713 if (gcode
->has_letter('Z')) {
714 float jd
= gcode
->get_value('Z');
715 // enforce minimum, -1 disables it and uses regular junction deviation
718 THEKERNEL
->planner
->z_junction_deviation
= jd
;
720 if (gcode
->has_letter('S')) {
721 float mps
= gcode
->get_value('S');
725 THEKERNEL
->planner
->minimum_planner_speed
= mps
;
729 case 220: // M220 - speed override percentage
730 if (gcode
->has_letter('S')) {
731 float factor
= gcode
->get_value('S');
732 // enforce minimum 10% speed
735 // enforce maximum 10x speed
736 if (factor
> 1000.0F
)
739 seconds_per_minute
= 6000.0F
/ factor
;
741 gcode
->stream
->printf("Speed factor at %6.2f %%\n", 6000.0F
/ seconds_per_minute
);
745 case 400: // wait until all moves are done up to this point
746 THEKERNEL
->conveyor
->wait_for_idle();
749 case 500: // M500 saves some volatile settings to config override file
750 case 503: { // M503 just prints the settings
751 gcode
->stream
->printf(";Steps per unit:\nM92 ");
752 for (int i
= 0; i
< n_motors
; ++i
) {
753 if(actuators
[i
]->is_extruder()) continue; //extruders handle this themselves
754 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
755 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_steps_per_mm());
757 gcode
->stream
->printf("\n");
759 // only print if not NAN
760 gcode
->stream
->printf(";Acceleration mm/sec^2:\nM204 S%1.5f ", default_acceleration
);
761 for (int i
= 0; i
< n_motors
; ++i
) {
762 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
763 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
764 if(!isnan(actuators
[i
]->get_acceleration())) gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_acceleration());
766 gcode
->stream
->printf("\n");
768 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
);
770 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
]);
772 gcode
->stream
->printf(";Max actuator feedrates in mm/sec:\nM203.1 ");
773 for (int i
= 0; i
< n_motors
; ++i
) {
774 if(actuators
[i
]->is_extruder()) continue; // extruders handle this themselves
775 char axis
= (i
<= Z_AXIS
? 'X'+i
: 'A'+(i
-A_AXIS
));
776 gcode
->stream
->printf("%c%1.5f ", axis
, actuators
[i
]->get_max_rate());
778 gcode
->stream
->printf("\n");
780 // get or save any arm solution specific optional values
781 BaseSolution::arm_options_t options
;
782 if(arm_solution
->get_optional(options
) && !options
.empty()) {
783 gcode
->stream
->printf(";Optional arm solution specific settings:\nM665");
784 for(auto &i
: options
) {
785 gcode
->stream
->printf(" %c%1.4f", i
.first
, i
.second
);
787 gcode
->stream
->printf("\n");
790 // save wcs_offsets and current_wcs
791 // TODO this may need to be done whenever they change to be compliant
792 gcode
->stream
->printf(";WCS settings\n");
793 gcode
->stream
->printf("%s\n", wcs2gcode(current_wcs
).c_str());
795 for(auto &i
: wcs_offsets
) {
796 if(i
!= wcs_t(0, 0, 0)) {
798 std::tie(x
, y
, z
) = i
;
799 gcode
->stream
->printf("G10 L2 P%d X%f Y%f Z%f ; %s\n", n
, x
, y
, z
, wcs2gcode(n
-1).c_str());
804 // linuxcnc saves G92, so we do too if configured, default is to not save to maintain backward compatibility
805 // 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
806 if(g92_offset
!= wcs_t(0, 0, 0)) {
808 std::tie(x
, y
, z
) = g92_offset
;
809 gcode
->stream
->printf("G92.3 X%f Y%f Z%f\n", x
, y
, z
); // sets G92 to the specified values
815 case 665: { // M665 set optional arm solution variables based on arm solution.
816 // the parameter args could be any letter each arm solution only accepts certain ones
817 BaseSolution::arm_options_t options
= gcode
->get_args();
818 options
.erase('S'); // don't include the S
819 options
.erase('U'); // don't include the U
820 if(options
.size() > 0) {
821 // set the specified options
822 arm_solution
->set_optional(options
);
825 if(arm_solution
->get_optional(options
)) {
826 // foreach optional value
827 for(auto &i
: options
) {
828 // print all current values of supported options
829 gcode
->stream
->printf("%c: %8.4f ", i
.first
, i
.second
);
830 gcode
->add_nl
= true;
834 if(gcode
->has_letter('S')) { // set delta segments per second, not saved by M500
835 this->delta_segments_per_second
= gcode
->get_value('S');
836 gcode
->stream
->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second
);
838 } else if(gcode
->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
839 this->mm_per_line_segment
= gcode
->get_value('U');
840 this->delta_segments_per_second
= 0;
841 gcode
->stream
->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment
);
849 if( motion_mode
!= NONE
) {
850 is_g123
= motion_mode
!= SEEK
;
851 process_move(gcode
, motion_mode
);
857 next_command_is_MCS
= false; // must be on same line as G0 or G1
860 int Robot::get_active_extruder() const
862 for (int i
= E_AXIS
; i
< n_motors
; ++i
) {
863 // find first selected extruder
864 if(actuators
[i
]->is_extruder() && actuators
[i
]->is_selected()) return i
;
869 // process a G0/G1/G2/G3
870 void Robot::process_move(Gcode
*gcode
, enum MOTION_MODE_T motion_mode
)
872 // we have a G0/G1/G2/G3 so extract parameters and apply offsets to get machine coordinate target
873 // get XYZ and one E (which goes to the selected extruder)
874 float param
[4]{NAN
, NAN
, NAN
, NAN
};
876 // process primary axis
877 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
879 if( gcode
->has_letter(letter
) ) {
880 param
[i
] = this->to_millimeters(gcode
->get_value(letter
));
884 float offset
[3]{0,0,0};
885 for(char letter
= 'I'; letter
<= 'K'; letter
++) {
886 if( gcode
->has_letter(letter
) ) {
887 offset
[letter
- 'I'] = this->to_millimeters(gcode
->get_value(letter
));
891 // calculate target in machine coordinates (less compensation transform which needs to be done after segmentation)
892 float target
[n_motors
];
893 memcpy(target
, machine_position
, n_motors
*sizeof(float));
895 if(!next_command_is_MCS
) {
896 if(this->absolute_mode
) {
897 // apply wcs offsets and g92 offset and tool offset
898 if(!isnan(param
[X_AXIS
])) {
899 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
);
902 if(!isnan(param
[Y_AXIS
])) {
903 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
);
906 if(!isnan(param
[Z_AXIS
])) {
907 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
);
911 // they are deltas from the machine_position if specified
912 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
913 if(!isnan(param
[i
])) target
[i
] = param
[i
] + machine_position
[i
];
918 // already in machine coordinates, we do not add tool offset for that
919 for(int i
= X_AXIS
; i
<= Z_AXIS
; ++i
) {
920 if(!isnan(param
[i
])) target
[i
] = param
[i
];
926 #if MAX_ROBOT_ACTUATORS > 3
927 // process extruder parameters, for active extruder only (only one active extruder at a time)
928 int selected_extruder
= 0;
929 if(gcode
->has_letter('E')) {
930 selected_extruder
= get_active_extruder();
931 param
[E_AXIS
]= gcode
->get_value('E');
934 // do E for the selected extruder
935 if(selected_extruder
> 0 && !isnan(param
[E_AXIS
])) {
936 if(this->e_absolute_mode
) {
937 target
[selected_extruder
]= param
[E_AXIS
];
938 delta_e
= target
[selected_extruder
] - machine_position
[selected_extruder
];
940 delta_e
= param
[E_AXIS
];
941 target
[selected_extruder
] = delta_e
+ machine_position
[selected_extruder
];
945 // process ABC axis, this is mutually exclusive to using E for an extruder, so if E is used and A then the results are undefined
946 for (int i
= A_AXIS
; i
< n_motors
; ++i
) {
947 char letter
= 'A'+i
-A_AXIS
;
948 if(gcode
->has_letter(letter
)) {
949 float p
= gcode
->get_value(letter
);
950 if(this->absolute_mode
) {
953 target
[i
]= p
+ machine_position
[i
];
959 if( gcode
->has_letter('F') ) {
960 if( motion_mode
== SEEK
)
961 this->seek_rate
= this->to_millimeters( gcode
->get_value('F') );
963 this->feed_rate
= this->to_millimeters( gcode
->get_value('F') );
966 // S is modal When specified on a G0/1/2/3 command
967 if(gcode
->has_letter('S')) s_value
= gcode
->get_value('S');
971 // Perform any physical actions
972 switch(motion_mode
) {
976 moved
= this->append_line(gcode
, target
, this->seek_rate
/ seconds_per_minute
, delta_e
);
980 moved
= this->append_line(gcode
, target
, this->feed_rate
/ seconds_per_minute
, delta_e
);
985 // Note arcs are not currently supported by extruder based machines, as 3D slicers do not use arcs (G2/G3)
986 moved
= this->compute_arc(gcode
, offset
, target
, motion_mode
);
991 // set machine_position to the calculated target
992 memcpy(machine_position
, target
, n_motors
*sizeof(float));
996 // reset the machine position for all axis. Used for homing.
997 // after homing we supply the cartesian coordinates that the head is at when homed,
998 // however for Z this is the compensated machine position (if enabled)
999 // So we need to apply the inverse compensation transform to the supplied coordinates to get the correct machine position
1000 // this will make the results from M114 and ? consistent after homing.
1001 // This works for cases where the Z endstop is fixed on the Z actuator and is the same regardless of where XY are.
1002 void Robot::reset_axis_position(float x
, float y
, float z
)
1004 // set both the same initially
1005 compensated_machine_position
[X_AXIS
]= machine_position
[X_AXIS
] = x
;
1006 compensated_machine_position
[Y_AXIS
]= machine_position
[Y_AXIS
] = y
;
1007 compensated_machine_position
[Z_AXIS
]= machine_position
[Z_AXIS
] = z
;
1009 if(compensationTransform
) {
1010 // apply inverse transform to get machine_position
1011 compensationTransform(machine_position
, true);
1014 // now set the actuator positions based on the supplied compensated position
1015 ActuatorCoordinates actuator_pos
;
1016 arm_solution
->cartesian_to_actuator(this->compensated_machine_position
, actuator_pos
);
1017 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++)
1018 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1021 // Reset the position for an axis (used in homing, and to reset extruder after suspend)
1022 void Robot::reset_axis_position(float position
, int axis
)
1024 compensated_machine_position
[axis
] = position
;
1025 if(axis
<= Z_AXIS
) {
1026 reset_axis_position(compensated_machine_position
[X_AXIS
], compensated_machine_position
[Y_AXIS
], compensated_machine_position
[Z_AXIS
]);
1028 #if MAX_ROBOT_ACTUATORS > 3
1029 }else if(axis
< n_motors
) {
1030 // ABC and/or extruders need to be set as there is no arm solution for them
1031 machine_position
[axis
]= compensated_machine_position
[axis
]= position
;
1032 actuators
[axis
]->change_last_milestone(machine_position
[axis
]);
1037 // similar to reset_axis_position but directly sets the actuator positions in actuators units (eg mm for cartesian, degrees for rotary delta)
1038 // then sets the axis positions to match. currently only called from Endstops.cpp and RotaryDeltaCalibration.cpp
1039 void Robot::reset_actuator_position(const ActuatorCoordinates
&ac
)
1041 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1042 if(!isnan(ac
[i
])) actuators
[i
]->change_last_milestone(ac
[i
]);
1045 // now correct axis positions then recorrect actuator to account for rounding
1046 reset_position_from_current_actuator_position();
1049 // Use FK to find out where actuator is and reset to match
1050 // TODO maybe we should only reset axis that are being homed unless this is due to a ON_HALT
1051 void Robot::reset_position_from_current_actuator_position()
1053 ActuatorCoordinates actuator_pos
;
1054 for (size_t i
= X_AXIS
; i
< n_motors
; i
++) {
1055 // NOTE actuator::current_position is curently NOT the same as actuator::machine_position after an abrupt abort
1056 actuator_pos
[i
] = actuators
[i
]->get_current_position();
1059 // discover machine position from where actuators actually are
1060 arm_solution
->actuator_to_cartesian(actuator_pos
, compensated_machine_position
);
1061 memcpy(machine_position
, compensated_machine_position
, sizeof machine_position
);
1063 // compensated_machine_position includes the compensation transform so we need to get the inverse to get actual machine_position
1064 if(compensationTransform
) compensationTransform(machine_position
, true); // get inverse compensation transform
1066 // now reset actuator::machine_position, NOTE this may lose a little precision as FK is not always entirely accurate.
1067 // NOTE This is required to sync the machine position with the actuator position, we do a somewhat redundant cartesian_to_actuator() call
1068 // to get everything in perfect sync.
1069 arm_solution
->cartesian_to_actuator(compensated_machine_position
, actuator_pos
);
1070 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1071 actuators
[i
]->change_last_milestone(actuator_pos
[i
]);
1074 // Handle extruders and/or ABC axis
1075 #if MAX_ROBOT_ACTUATORS > 3
1076 for (int i
= A_AXIS
; i
< n_motors
; i
++) {
1077 // ABC and/or extruders just need to set machine_position and compensated_machine_position
1078 float ap
= actuator_pos
[i
];
1079 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
1080 machine_position
[i
]= compensated_machine_position
[i
]= ap
;
1081 actuators
[i
]->change_last_milestone(actuator_pos
[i
]); // this updates the last_milestone in the actuator
1086 // Convert target (in machine coordinates) to machine_position, then convert to actuator position and append this to the planner
1087 // target is in machine coordinates without the compensation transform, however we save a compensated_machine_position that includes
1088 // all transforms and is what we actually convert to actuator positions
1089 bool Robot::append_milestone(const float target
[], float rate_mm_s
)
1091 float deltas
[n_motors
];
1092 float transformed_target
[n_motors
]; // adjust target for bed compensation
1093 float unit_vec
[N_PRIMARY_AXIS
];
1095 // unity transform by default
1096 memcpy(transformed_target
, target
, n_motors
*sizeof(float));
1098 // check function pointer and call if set to transform the target to compensate for bed
1099 if(compensationTransform
) {
1100 // some compensation strategies can transform XYZ, some just change Z
1101 compensationTransform(transformed_target
, false);
1105 float sos
= 0; // sum of squares for just primary axis (XYZ usually)
1107 // find distance moved by each axis, use transformed target from the current compensated machine position
1108 for (size_t i
= 0; i
< n_motors
; i
++) {
1109 deltas
[i
] = transformed_target
[i
] - compensated_machine_position
[i
];
1110 if(deltas
[i
] == 0) continue;
1111 // at least one non zero delta
1113 if(i
< N_PRIMARY_AXIS
) {
1114 sos
+= powf(deltas
[i
], 2);
1119 if(!move
) return false;
1121 // see if this is a primary axis move or not
1122 bool auxilliary_move
= true;
1123 for (int i
= 0; i
< N_PRIMARY_AXIS
; ++i
) {
1124 if(deltas
[i
] != 0) {
1125 auxilliary_move
= false;
1130 // total movement, use XYZ if a primary axis otherwise we calculate distance for E after scaling to mm
1131 float distance
= auxilliary_move
? 0 : sqrtf(sos
);
1133 // it is unlikely but we need to protect against divide by zero, so ignore insanely small moves here
1134 // 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
1135 if(!auxilliary_move
&& distance
< 0.00001F
) return false;
1138 if(!auxilliary_move
) {
1139 for (size_t i
= X_AXIS
; i
< N_PRIMARY_AXIS
; i
++) {
1140 // find distance unit vector for primary axis only
1141 unit_vec
[i
] = deltas
[i
] / distance
;
1143 // Do not move faster than the configured cartesian limits for XYZ
1144 if ( max_speeds
[i
] > 0 ) {
1145 float axis_speed
= fabsf(unit_vec
[i
] * rate_mm_s
);
1147 if (axis_speed
> max_speeds
[i
])
1148 rate_mm_s
*= ( max_speeds
[i
] / axis_speed
);
1153 // find actuator position given the machine position, use actual adjusted target
1154 ActuatorCoordinates actuator_pos
;
1155 if(!disable_arm_solution
) {
1156 arm_solution
->cartesian_to_actuator( transformed_target
, actuator_pos
);
1159 // basically the same as cartesian, would be used for special homing situations like for scara
1160 for (size_t i
= X_AXIS
; i
<= Z_AXIS
; i
++) {
1161 actuator_pos
[i
] = transformed_target
[i
];
1165 #if MAX_ROBOT_ACTUATORS > 3
1167 // for the extruders just copy the position, and possibly scale it from mm³ to mm
1168 for (size_t i
= E_AXIS
; i
< n_motors
; i
++) {
1169 actuator_pos
[i
]= transformed_target
[i
];
1170 if(actuators
[i
]->is_extruder() && get_e_scale_fnc
) {
1171 // NOTE this relies on the fact only one extruder is active at a time
1172 // scale for volumetric or flow rate
1173 // TODO is this correct? scaling the absolute target? what if the scale changes?
1174 // for volumetric it basically converts mm³ to mm, but what about flow rate?
1175 actuator_pos
[i
] *= get_e_scale_fnc();
1177 if(auxilliary_move
) {
1178 // for E only moves we need to use the scaled E to calculate the distance
1179 sos
+= powf(actuator_pos
[i
] - actuators
[i
]->get_last_milestone(), 2);
1182 if(auxilliary_move
) {
1183 distance
= sqrtf(sos
); // distance in mm of the e move
1184 if(distance
< 0.00001F
) return false;
1188 // use default acceleration to start with
1189 float acceleration
= default_acceleration
;
1191 float isecs
= rate_mm_s
/ distance
;
1193 // check per-actuator speed limits
1194 for (size_t actuator
= 0; actuator
< n_motors
; actuator
++) {
1195 float d
= fabsf(actuator_pos
[actuator
] - actuators
[actuator
]->get_last_milestone());
1196 if(d
== 0 || !actuators
[actuator
]->is_selected()) continue; // no movement for this actuator
1198 float actuator_rate
= d
* isecs
;
1199 if (actuator_rate
> actuators
[actuator
]->get_max_rate()) {
1200 rate_mm_s
*= (actuators
[actuator
]->get_max_rate() / actuator_rate
);
1201 isecs
= rate_mm_s
/ distance
;
1204 // adjust acceleration to lowest found, for now just primary axis unless it is an auxiliary move
1205 // 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.
1206 if(auxilliary_move
|| actuator
< N_PRIMARY_AXIS
) {
1207 float ma
= actuators
[actuator
]->get_acceleration(); // in mm/sec²
1208 if(!isnan(ma
)) { // if axis does not have acceleration set then it uses the default_acceleration
1209 float ca
= fabsf((d
/distance
) * acceleration
);
1211 acceleration
*= ( ma
/ ca
);
1217 // Append the block to the planner
1218 // NOTE that distance here should be either the distance travelled by the XYZ axis, or the E mm travel if a solo E move
1219 if(THEKERNEL
->planner
->append_block( actuator_pos
, n_motors
, rate_mm_s
, distance
, auxilliary_move
? nullptr : unit_vec
, acceleration
, s_value
, is_g123
)) {
1220 // this is the new compensated machine position
1221 memcpy(this->compensated_machine_position
, transformed_target
, n_motors
*sizeof(float));
1229 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
1230 bool Robot::delta_move(const float *delta
, float rate_mm_s
, uint8_t naxis
)
1232 if(THEKERNEL
->is_halted()) return false;
1234 // catch negative or zero feed rates
1235 if(rate_mm_s
<= 0.0F
) {
1239 // get the absolute target position, default is current machine_position
1240 float target
[n_motors
];
1241 memcpy(target
, machine_position
, n_motors
*sizeof(float));
1243 // add in the deltas to get new target
1244 for (int i
= 0; i
< naxis
; i
++) {
1245 target
[i
] += delta
[i
];
1248 // submit for planning and if moved update machine_position
1249 if(append_milestone(target
, rate_mm_s
)) {
1250 memcpy(machine_position
, target
, n_motors
*sizeof(float));
1257 // Append a move to the queue ( cutting it into segments if needed )
1258 bool Robot::append_line(Gcode
*gcode
, const float target
[], float rate_mm_s
, float delta_e
)
1260 // catch negative or zero feed rates and return the same error as GRBL does
1261 if(rate_mm_s
<= 0.0F
) {
1262 gcode
->is_error
= true;
1263 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1267 // Find out the distance for this move in XYZ in MCS
1268 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 ));
1270 if(millimeters_of_travel
< 0.00001F
) {
1271 // we have no movement in XYZ, probably E only extrude or retract
1272 return this->append_milestone(target
, rate_mm_s
);
1276 For extruders, we need to do some extra work to limit the volumetric rate if specified...
1277 If using volumetric limts we need to be using volumetric extrusion for this to work as Ennn needs to be in mm³ not mm
1278 We ask Extruder to do all the work but we need to pass in the relevant data.
1279 NOTE we need to do this before we segment the line (for deltas)
1281 if(!isnan(delta_e
) && gcode
->has_g
&& gcode
->g
== 1) {
1282 float data
[2]= {delta_e
, rate_mm_s
/ millimeters_of_travel
};
1283 if(PublicData::set_value(extruder_checksum
, target_checksum
, data
)) {
1284 rate_mm_s
*= data
[1]; // adjust the feedrate
1288 // 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.
1289 // In delta robots either mm_per_line_segment can be used OR delta_segments_per_second
1290 // 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
1293 if(this->disable_segmentation
|| (!segment_z_moves
&& !gcode
->has_letter('X') && !gcode
->has_letter('Y'))) {
1296 } else if(this->delta_segments_per_second
> 1.0F
) {
1297 // enabled if set to something > 1, it is set to 0.0 by default
1298 // segment based on current speed and requested segments per second
1299 // the faster the travel speed the fewer segments needed
1300 // NOTE rate is mm/sec and we take into account any speed override
1301 float seconds
= millimeters_of_travel
/ rate_mm_s
;
1302 segments
= max(1.0F
, ceilf(this->delta_segments_per_second
* seconds
));
1303 // TODO if we are only moving in Z on a delta we don't really need to segment at all
1306 if(this->mm_per_line_segment
== 0.0F
) {
1307 segments
= 1; // don't split it up
1309 segments
= ceilf( millimeters_of_travel
/ this->mm_per_line_segment
);
1315 // A vector to keep track of the endpoint of each segment
1316 float segment_delta
[n_motors
];
1317 float segment_end
[n_motors
];
1318 memcpy(segment_end
, machine_position
, n_motors
*sizeof(float));
1320 // How far do we move each segment?
1321 for (int i
= 0; i
< n_motors
; i
++)
1322 segment_delta
[i
] = (target
[i
] - machine_position
[i
]) / segments
;
1324 // segment 0 is already done - it's the end point of the previous move so we start at segment 1
1325 // We always add another point after this loop so we stop at segments-1, ie i < segments
1326 for (int i
= 1; i
< segments
; i
++) {
1327 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1328 for (int i
= 0; i
< n_motors
; i
++)
1329 segment_end
[i
] += segment_delta
[i
];
1331 // Append the end of this segment to the queue
1332 bool b
= this->append_milestone(segment_end
, rate_mm_s
);
1337 // Append the end of this full move to the queue
1338 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1340 this->next_command_is_MCS
= false; // always reset this
1346 // Append an arc to the queue ( cutting it into segments as needed )
1347 // TODO does not support any E parameters so cannot be used for 3D printing.
1348 bool Robot::append_arc(Gcode
* gcode
, const float target
[], const float offset
[], float radius
, bool is_clockwise
)
1350 float rate_mm_s
= this->feed_rate
/ seconds_per_minute
;
1351 // catch negative or zero feed rates and return the same error as GRBL does
1352 if(rate_mm_s
<= 0.0F
) {
1353 gcode
->is_error
= true;
1354 gcode
->txt_after_ok
= (rate_mm_s
== 0 ? "Undefined feed rate" : "feed rate < 0");
1359 float center_axis0
= this->machine_position
[this->plane_axis_0
] + offset
[this->plane_axis_0
];
1360 float center_axis1
= this->machine_position
[this->plane_axis_1
] + offset
[this->plane_axis_1
];
1361 float linear_travel
= target
[this->plane_axis_2
] - this->machine_position
[this->plane_axis_2
];
1362 float r_axis0
= -offset
[this->plane_axis_0
]; // Radius vector from center to current location
1363 float r_axis1
= -offset
[this->plane_axis_1
];
1364 float rt_axis0
= target
[this->plane_axis_0
] - center_axis0
;
1365 float rt_axis1
= target
[this->plane_axis_1
] - center_axis1
;
1367 // Patch from GRBL Firmware - Christoph Baumann 04072015
1368 // CCW angle between position and target from circle center. Only one atan2() trig computation required.
1369 float angular_travel
= atan2f(r_axis0
* rt_axis1
- r_axis1
* rt_axis0
, r_axis0
* rt_axis0
+ r_axis1
* rt_axis1
);
1370 if (is_clockwise
) { // Correct atan2 output per direction
1371 if (angular_travel
>= -ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
-= (2 * PI
); }
1373 if (angular_travel
<= ARC_ANGULAR_TRAVEL_EPSILON
) { angular_travel
+= (2 * PI
); }
1376 // Find the distance for this gcode
1377 float millimeters_of_travel
= hypotf(angular_travel
* radius
, fabsf(linear_travel
));
1379 // We don't care about non-XYZ moves ( for example the extruder produces some of those )
1380 if( millimeters_of_travel
< 0.00001F
) {
1384 // limit segments by maximum arc error
1385 float arc_segment
= this->mm_per_arc_segment
;
1386 if ((this->mm_max_arc_error
> 0) && (2 * radius
> this->mm_max_arc_error
)) {
1387 float min_err_segment
= 2 * sqrtf((this->mm_max_arc_error
* (2 * radius
- this->mm_max_arc_error
)));
1388 if (this->mm_per_arc_segment
< min_err_segment
) {
1389 arc_segment
= min_err_segment
;
1392 // Figure out how many segments for this gcode
1393 // 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
1394 uint16_t segments
= ceilf(millimeters_of_travel
/ arc_segment
);
1396 //printf("Radius %f - Segment Length %f - Number of Segments %d\r\n",radius,arc_segment,segments); // Testing Purposes ONLY
1397 float theta_per_segment
= angular_travel
/ segments
;
1398 float linear_per_segment
= linear_travel
/ segments
;
1400 /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
1401 and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
1402 r_T = [cos(phi) -sin(phi);
1403 sin(phi) cos(phi] * r ;
1404 For arc generation, the center of the circle is the axis of rotation and the radius vector is
1405 defined from the circle center to the initial position. Each line segment is formed by successive
1406 vector rotations. This requires only two cos() and sin() computations to form the rotation
1407 matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
1408 all float numbers are single precision on the Arduino. (True float precision will not have
1409 round off issues for CNC applications.) Single precision error can accumulate to be greater than
1410 tool precision in some cases. Therefore, arc path correction is implemented.
1412 Small angle approximation may be used to reduce computation overhead further. This approximation
1413 holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
1414 theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
1415 to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
1416 numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
1417 issue for CNC machines with the single precision Arduino calculations.
1418 This approximation also allows mc_arc to immediately insert a line segment into the planner
1419 without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
1420 a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
1421 This is important when there are successive arc motions.
1423 // Vector rotation matrix values
1424 float cos_T
= 1 - 0.5F
* theta_per_segment
* theta_per_segment
; // Small angle approximation
1425 float sin_T
= theta_per_segment
;
1427 // TODO we need to handle the ABC axis here by segmenting them
1428 float arc_target
[3];
1435 // Initialize the linear axis
1436 arc_target
[this->plane_axis_2
] = this->machine_position
[this->plane_axis_2
];
1439 for (i
= 1; i
< segments
; i
++) { // Increment (segments-1)
1440 if(THEKERNEL
->is_halted()) return false; // don't queue any more segments
1442 if (count
< this->arc_correction
) {
1443 // Apply vector rotation matrix
1444 r_axisi
= r_axis0
* sin_T
+ r_axis1
* cos_T
;
1445 r_axis0
= r_axis0
* cos_T
- r_axis1
* sin_T
;
1449 // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
1450 // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
1451 cos_Ti
= cosf(i
* theta_per_segment
);
1452 sin_Ti
= sinf(i
* theta_per_segment
);
1453 r_axis0
= -offset
[this->plane_axis_0
] * cos_Ti
+ offset
[this->plane_axis_1
] * sin_Ti
;
1454 r_axis1
= -offset
[this->plane_axis_0
] * sin_Ti
- offset
[this->plane_axis_1
] * cos_Ti
;
1458 // Update arc_target location
1459 arc_target
[this->plane_axis_0
] = center_axis0
+ r_axis0
;
1460 arc_target
[this->plane_axis_1
] = center_axis1
+ r_axis1
;
1461 arc_target
[this->plane_axis_2
] += linear_per_segment
;
1463 // Append this segment to the queue
1464 bool b
= this->append_milestone(arc_target
, rate_mm_s
);
1468 // Ensure last segment arrives at target location.
1469 if(this->append_milestone(target
, rate_mm_s
)) moved
= true;
1474 // Do the math for an arc and add it to the queue
1475 bool Robot::compute_arc(Gcode
* gcode
, const float offset
[], const float target
[], enum MOTION_MODE_T motion_mode
)
1479 float radius
= hypotf(offset
[this->plane_axis_0
], offset
[this->plane_axis_1
]);
1481 // Set clockwise/counter-clockwise sign for mc_arc computations
1482 bool is_clockwise
= false;
1483 if( motion_mode
== CW_ARC
) {
1484 is_clockwise
= true;
1488 return this->append_arc(gcode
, target
, offset
, radius
, is_clockwise
);
1492 float Robot::theta(float x
, float y
)
1494 float t
= atanf(x
/ fabs(y
));
1506 void Robot::select_plane(uint8_t axis_0
, uint8_t axis_1
, uint8_t axis_2
)
1508 this->plane_axis_0
= axis_0
;
1509 this->plane_axis_1
= axis_1
;
1510 this->plane_axis_2
= axis_2
;
1513 void Robot::clearToolOffset()
1515 this->tool_offset
= wcs_t(0,0,0);
1518 void Robot::setToolOffset(const float offset
[3])
1520 this->tool_offset
= wcs_t(offset
[0], offset
[1], offset
[2]);
1523 float Robot::get_feed_rate() const
1525 return THEKERNEL
->gcode_dispatch
->get_modal_command() == 0 ? seek_rate
: feed_rate
;