src/modules/robot/Robot.h

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef ROBOT_H
   9 #define ROBOT_H
  10
  11 #include <string>
  12 using std::string;
  13 #include <string.h>
  14 #include <functional>
  15 #include <stack>
  16 #include <vector>
  17
  18 #include "libs/Module.h"
  19 #include "ActuatorCoordinates.h"
  20 #include "nuts_bolts.h"
  21
  22 class Gcode;
  23 class BaseSolution;
  24 class StepperMotor;
  25
  26 // 9 WCS offsets
  27 #define MAX_WCS 9UL
  28 #define N_PRIMARY_AXIS 3
  29
  30 class Robot : public Module {
  31     public:
  32         using wcs_t= std::tuple<float, float, float>;
  33         Robot();
  34         void on_module_loaded();
  35         void on_gcode_received(void* argument);
  36
  37         void reset_axis_position(float position, int axis);
  38         void reset_axis_position(float x, float y, float z);
  39         void reset_actuator_position(const ActuatorCoordinates &ac);
  40         void reset_position_from_current_actuator_position();
  41         float get_seconds_per_minute() const { return seconds_per_minute; }
  42         float get_z_maxfeedrate() const { return this->max_speeds[Z_AXIS]; }
  43         float get_default_acceleration() const { return default_acceleration; }
  44         void setToolOffset(const float offset[N_PRIMARY_AXIS]);
  45         float get_feed_rate() const;
  46         float get_s_value() const { return s_value; }
  47         void set_s_value(float s) { s_value= s; }
  48         void  push_state();
  49         void  pop_state();
  50         void check_max_actuator_speeds();
  51         float to_millimeters( float value ) const { return this->inch_mode ? value * 25.4F : value; }
  52         float from_millimeters( float value) const { return this->inch_mode ? value/25.4F : value;  }
  53         float get_axis_position(int axis) const { return(this->last_milestone[axis]); }
  54         void get_axis_position(float position[], size_t n= N_PRIMARY_AXIS) const { memcpy(position, this->last_milestone, n*sizeof(float)); }
  55         wcs_t get_axis_position() const { return wcs_t(last_milestone[X_AXIS], last_milestone[Y_AXIS], last_milestone[Z_AXIS]); }
  56         void get_current_machine_position(float *pos) const;
  57         int print_position(uint8_t subcode, char *buf, size_t bufsize) const;
  58         uint8_t get_current_wcs() const { return current_wcs; }
  59         std::vector<wcs_t> get_wcs_state() const;
  60         std::tuple<float, float, float, uint8_t> get_last_probe_position() const { return last_probe_position; }
  61         void set_last_probe_position(std::tuple<float, float, float, uint8_t> p) { last_probe_position = p; }
  62         bool delta_move(const float delta[], float rate_mm_s, uint8_t naxis);
  63         uint8_t register_motor(StepperMotor*);
  64         uint8_t get_number_registered_motors() const {return n_motors; }
  65
  66         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
  67
  68         // gets accessed by Panel, Endstops, ZProbe
  69         std::vector<StepperMotor*> actuators;
  70
  71         // set by a leveling strategy to transform the target of a move according to the current plan
  72         std::function<void(float*, bool)> compensationTransform;
  73         // set by an active extruder, returns the amount tio scale the E parameter by (to convert mm³ to mm)
  74         std::function<float(void)> get_e_scale_fnc;
  75
  76         // Workspace coordinate systems
  77         wcs_t mcs2wcs(const wcs_t &pos) const;
  78         wcs_t mcs2wcs(const float *pos) const { return mcs2wcs(wcs_t(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS])); }
  79
  80         struct {
  81             bool inch_mode:1;                                 // true for inch mode, false for millimeter mode ( default )
  82             bool absolute_mode:1;                             // true for absolute mode ( default ), false for relative mode
  83             bool e_absolute_mode:1;                           // true for absolute mode for E ( default ), false for relative mode
  84             bool next_command_is_MCS:1;                       // set by G53
  85             bool disable_segmentation:1;                      // set to disable segmentation
  86             bool disable_arm_solution:1;                      // set to disable the arm solution
  87             bool segment_z_moves:1;
  88             bool save_g92:1;                                  // save g92 on M500 if set
  89             bool is_g123:1;
  90             uint8_t plane_axis_0:2;                           // Current plane ( XY, XZ, YZ )
  91             uint8_t plane_axis_1:2;
  92             uint8_t plane_axis_2:2;
  93         };
  94
  95     private:
  96         enum MOTION_MODE_T {
  97             NONE,
  98             SEEK, // G0
  99             LINEAR, // G1
 100             CW_ARC, // G2
 101             CCW_ARC // G3
 102         };
 103
 104         void load_config();
 105         bool append_milestone(const float target[], float rate_mm_s);
 106         bool append_line( Gcode* gcode, const float target[], float rate_mm_s, float delta_e);
 107         bool append_arc( Gcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise );
 108         bool compute_arc(Gcode* gcode, const float offset[], const float target[], enum MOTION_MODE_T motion_mode);
 109         void process_move(Gcode *gcode, enum MOTION_MODE_T);
 110
 111         float theta(float x, float y);
 112         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
 113         void clearToolOffset();
 114
 115
 116         std::array<wcs_t, MAX_WCS> wcs_offsets; // these are persistent once saved with M500
 117         uint8_t current_wcs{0}; // 0 means G54 is enabled this is persistent once saved with M500
 118         wcs_t g92_offset;
 119         wcs_t tool_offset; // used for multiple extruders, sets the tool offset for the current extruder applied first
 120         std::tuple<float, float, float, uint8_t> last_probe_position{0,0,0,0};
 121
 122         using saved_state_t= std::tuple<float, float, bool, bool, bool, uint8_t>; // save current feedrate and absolute mode, e absolute mode, inch mode, current_wcs
 123         std::stack<saved_state_t> state_stack;               // saves state from M120
 124
 125         float last_milestone[k_max_actuators]; // Last requested position, in millimeters, which is what we were requested to move to in the gcode after offsets applied but before compensation transform
 126         float last_machine_position[k_max_actuators]; // Last machine position, which is the position before converting to actuator coordinates (includes compensation transform)
 127
 128         float seek_rate;                                     // Current rate for seeking moves ( mm/min )
 129         float feed_rate;                                     // Current rate for feeding moves ( mm/min )
 130         float mm_per_line_segment;                           // Setting : Used to split lines into segments
 131         float mm_per_arc_segment;                            // Setting : Used to split arcs into segments
 132         float mm_max_arc_error;                              // Setting : Used to limit total arc segments to max error
 133         float delta_segments_per_second;                     // Setting : Used to split lines into segments for delta based on speed
 134         float seconds_per_minute;                            // for realtime speed change
 135         float default_acceleration;                          // the defualt accleration if not set for each axis
 136         float s_value;                                       // modal S value
 137
 138         // Number of arc generation iterations by small angle approximation before exact arc trajectory
 139         // correction. This parameter may be decreased if there are issues with the accuracy of the arc
 140         // generations. In general, the default value is more than enough for the intended CNC applications
 141         // of grbl, and should be on the order or greater than the size of the buffer to help with the
 142         // computational efficiency of generating arcs.
 143         int arc_correction;                                  // Setting : how often to rectify arc computation
 144         float max_speeds[3];                                 // Setting : max allowable speed in mm/s for each axis
 145
 146         uint8_t selected_extruder;
 147         uint8_t n_motors;                                    //count of the motors/axis registered
 148
 149         // Used by Planner
 150         friend class Planner;
 151 };
 152
 153
 154 #endif