clear_vector(this->current_position);
clear_vector(this->last_milestone);
this->arm_solution = NULL;
- seconds_per_minute = 60.0;
+ seconds_per_minute = 60.0F;
}
//Called when the module has just been loaded
}
- this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(100 )->as_number() / 60;
- this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default(100 )->as_number() / 60;
- this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default(0.0f )->as_number();
+ this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default( 100.0F)->as_number();
+ this->seek_rate = THEKERNEL->config->value(default_seek_rate_checksum )->by_default( 100.0F)->as_number();
+ this->mm_per_line_segment = THEKERNEL->config->value(mm_per_line_segment_checksum )->by_default( 0.0F)->as_number();
this->delta_segments_per_second = THEKERNEL->config->value(delta_segments_per_second_checksum )->by_default(0.0f )->as_number();
- this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default(0.5f )->as_number();
- this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default(5 )->as_number();
+ this->mm_per_arc_segment = THEKERNEL->config->value(mm_per_arc_segment_checksum )->by_default( 0.5f)->as_number();
+ this->arc_correction = THEKERNEL->config->value(arc_correction_checksum )->by_default( 5 )->as_number();
- this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000 )->as_number();
- this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000 )->as_number();
- this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default(300 )->as_number();
+ this->max_speeds[X_AXIS] = THEKERNEL->config->value(x_axis_max_speed_checksum )->by_default(60000.0F)->as_number();
+ this->max_speeds[Y_AXIS] = THEKERNEL->config->value(y_axis_max_speed_checksum )->by_default(60000.0F)->as_number();
+ this->max_speeds[Z_AXIS] = THEKERNEL->config->value(z_axis_max_speed_checksum )->by_default( 300.0F)->as_number();
Pin alpha_step_pin;
Pin alpha_dir_pin;
if(pdr->second_element_is(speed_override_percent_checksum)) {
static float return_data;
- return_data= 100*this->seconds_per_minute/60;
+ return_data = 100.0F * 60.0F / seconds_per_minute;
pdr->set_data_ptr(&return_data);
pdr->set_taken();
// NOTE do not use this while printing!
float t= *static_cast<float*>(pdr->get_data_ptr());
// enforce minimum 10% speed
- if (t < 10.0) t= 10.0;
+ if (t < 10.0F) t= 10.0F;
- this->seconds_per_minute= t * 0.6;
+ this->seconds_per_minute = t / 0.6F; // t * 60 / 100
pdr->set_taken();
}
}
gcode->mark_as_taken();
if (gcode->has_letter('S'))
{
- float acc= gcode->get_value('S') * 60 * 60; // mm/min^2
+ float acc= gcode->get_value('S'); // mm/s^2
// enforce minimum
- if (acc < 1.0)
- acc = 1.0;
+ if (acc < 1.0F)
+ acc = 1.0F;
THEKERNEL->planner->acceleration= acc;
}
break;
{
float factor = gcode->get_value('S');
// enforce minimum 10% speed
- if (factor < 10.0)
- factor = 10.0;
- seconds_per_minute = factor * 0.6;
+ if (factor < 10.0F)
+ factor = 10.0F;
+ // enforce maximum 10x speed
+ if (factor > 1000.0F)
+ factor = 1000.0F;
+
+ seconds_per_minute = 6000.0F / factor;
}
break;
case 500: // M500 saves some volatile settings to config override file
case 503: // M503 just prints the settings
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);
- gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration/3600);
+ gcode->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f\n", THEKERNEL->planner->acceleration);
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);
gcode->mark_as_taken();
break;
if( gcode->has_letter('F') )
{
if( this->motion_mode == MOTION_MODE_SEEK )
- this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F;
+ this->seek_rate = this->to_millimeters( gcode->get_value('F') );
else
- this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F;
+ this->feed_rate = this->to_millimeters( gcode->get_value('F') );
}
//Perform any physical actions
case NEXT_ACTION_DEFAULT:
switch(this->motion_mode){
case MOTION_MODE_CANCEL: break;
- case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate ); break;
- case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate ); break;
+ case MOTION_MODE_SEEK : this->append_line(gcode, target, this->seek_rate / seconds_per_minute ); break;
+ case MOTION_MODE_LINEAR: this->append_line(gcode, target, this->feed_rate / seconds_per_minute ); break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: this->compute_arc(gcode, offset, target ); break;
}
break;
// Convert target from millimeters to steps, and append this to the planner
-void Robot::append_milestone( float target[], float rate )
+void Robot::append_milestone( float target[], float rate_mm_s )
{
float deltas[3];
float unit_vec[3];
{
if ( max_speeds[axis] > 0 )
{
- float axis_speed = fabs(unit_vec[axis] * rate) * seconds_per_minute;
+ float axis_speed = fabs(unit_vec[axis] * rate_mm_s);
if (axis_speed > max_speeds[axis])
- rate = rate * ( max_speeds[axis] / axis_speed );
+ rate_mm_s *= ( max_speeds[axis] / axis_speed );
}
}
// check per-actuator speed limits
for (int actuator = 0; actuator <= 2; actuator++)
{
- float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate / millimeters_of_travel;
+ float actuator_rate = fabs(actuator_pos[actuator] - actuators[actuator]->last_milestone_mm) * rate_mm_s / millimeters_of_travel;
if (actuator_rate > actuators[actuator]->max_rate)
- rate *= (actuators[actuator]->max_rate / actuator_rate);
+ rate_mm_s *= (actuators[actuator]->max_rate / actuator_rate);
}
// Append the block to the planner
- THEKERNEL->planner->append_block( actuator_pos, rate * seconds_per_minute, millimeters_of_travel, unit_vec );
+ THEKERNEL->planner->append_block( actuator_pos, rate_mm_s, millimeters_of_travel, unit_vec );
// Update the last_milestone to the current target for the next time we use last_milestone
memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[];
}
// Append a move to the queue ( cutting it into segments if needed )
-void Robot::append_line(Gcode* gcode, float target[], float rate ){
+void Robot::append_line(Gcode* gcode, float target[], float rate_mm_s ){
// Find out the distance for this gcode
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 ) );
// segment based on current speed and requested segments per second
// the faster the travel speed the fewer segments needed
// NOTE rate is mm/sec and we take into account any speed override
- float seconds = 60.0/seconds_per_minute * gcode->millimeters_of_travel / rate;
+ float seconds = gcode->millimeters_of_travel / rate_mm_s;
segments= max(1, ceil(this->delta_segments_per_second * seconds));
// TODO if we are only moving in Z on a delta we don't really need to segment at all
for( int i=0; i<segments-1; i++ ){
for(int axis=X_AXIS; axis <= Z_AXIS; axis++ ){ temp_target[axis] += ( target[axis]-this->current_position[axis] )/segments; }
// Append the end of this segment to the queue
- this->append_milestone(temp_target, rate);
+ this->append_milestone(temp_target, rate_mm_s);
}
// Append the end of this full move to the queue
- this->append_milestone(target, rate);
+ this->append_milestone(target, rate_mm_s);
// if adding these blocks didn't start executing, do that now
THEKERNEL->conveyor->ensure_running();
arc_target[this->plane_axis_2] += linear_per_segment;
// Append this segment to the queue
- this->append_milestone(arc_target, this->feed_rate);
+ this->append_milestone(arc_target, this->feed_rate / seconds_per_minute);
}
// Ensure last segment arrives at target location.
- this->append_milestone(target, this->feed_rate);
+ this->append_milestone(target, this->feed_rate / seconds_per_minute);
}
// Do the math for an arc and add it to the queue
HCoop / clinton / Smoothieware.git / blobdiff