#include <stack>
#include "libs/Module.h"
+#include "ActuatorCoordinates.h"
class Gcode;
class BaseSolution;
class StepperMotor;
+// 9 WCS offsets
+#define MAX_WCS 9UL
+
class Robot : public Module {
public:
+ using wcs_t= std::tuple<float, float, float>;
Robot();
void on_module_loaded();
- void on_config_reload(void* argument);
void on_gcode_received(void* argument);
void reset_axis_position(float position, int axis);
void reset_axis_position(float x, float y, float z);
+ void reset_actuator_position(float a, float b, float c);
void reset_position_from_current_actuator_position();
- void get_axis_position(float position[]);
- float to_millimeters(float value);
- float from_millimeters(float value);
float get_seconds_per_minute() const { return seconds_per_minute; }
float get_z_maxfeedrate() const { return this->max_speeds[2]; }
void setToolOffset(const float offset[3]);
- float get_feed_rate() const { return feed_rate; }
+ float get_feed_rate() const;
+ void push_state();
+ void pop_state();
+ void check_max_actuator_speeds();
+ float to_millimeters( float value ) const { return this->inch_mode ? value * 25.4F : value; }
+ float from_millimeters( float value) const { return this->inch_mode ? value/25.4F : value; }
+ void get_axis_position(float position[]) const { memcpy(position, this->last_milestone, sizeof this->last_milestone); }
+ wcs_t get_axis_position() const { return wcs_t(last_milestone[0], last_milestone[1], last_milestone[2]); }
+ int print_position(uint8_t subcode, char *buf, size_t bufsize) const;
+ uint8_t get_current_wcs() const { return current_wcs; }
+
+ std::vector<wcs_t> get_wcs_state() const;
BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
// gets accessed by Panel, Endstops, ZProbe
- std::vector<StepperMotor*> actuators;
+ std::array<StepperMotor*, k_max_actuators> actuators;
// set by a leveling strategy to transform the target of a move according to the current plan
std::function<void(float[3])> compensationTransform;
+ // Workspace coordinate systems
+ wcs_t mcs2wcs(const float *pos) const;
+
struct {
bool inch_mode:1; // true for inch mode, false for millimeter mode ( default )
bool absolute_mode:1; // true for absolute mode ( default ), false for relative mode
+ bool next_command_is_MCS:1; // set by G53
+ uint8_t plane_axis_0:2; // Current plane ( XY, XZ, YZ )
+ uint8_t plane_axis_1:2;
+ uint8_t plane_axis_2:2;
};
private:
+ void load_config();
void distance_in_gcode_is_known(Gcode* gcode);
- void append_milestone( Gcode *gcode, float target[], float rate_mm_s);
- void append_line( Gcode* gcode, float target[], float rate_mm_s);
- void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise );
- void compute_arc(Gcode* gcode, float offset[], float target[]);
+ bool append_milestone( Gcode *gcode, const float target[], float rate_mm_s);
+ bool append_line( Gcode* gcode, const float target[], float rate_mm_s);
+ bool append_arc( Gcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise );
+ bool compute_arc(Gcode* gcode, const float offset[], const float target[]);
+ void process_move(Gcode *gcode);
float theta(float x, float y);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
void clearToolOffset();
- void check_max_actuator_speeds();
- typedef std::tuple<float, float, bool> saved_state_t; // save current feedrate and absolute mode
+
+ std::array<wcs_t, MAX_WCS> wcs_offsets; // these are persistent once saved with M500
+ uint8_t current_wcs{0}; // 0 means G54 is enabled this is persistent once saved with M500
+ wcs_t g92_offset;
+ wcs_t tool_offset; // used for multiple extruders, sets the tool offset for the current extruder applied first
+
+ using saved_state_t= std::tuple<float, float, bool, bool, uint8_t>; // save current feedrate and absolute mode, inch mode, current_wcs
std::stack<saved_state_t> state_stack; // saves state from M120
- float last_milestone[3]; // Last position, in millimeters
- float transformed_last_milestone[3]; // Last transformed position
+
+ float last_milestone[3]; // Last requested position, in millimeters, which is what we were requested to move to in the gcode after offsets applied but before compensation transform
+ float last_machine_position[3]; // Last machine position, which is the position before converting to actuator coordinates (includes compensation transform)
int8_t motion_mode; // Motion mode for the current received Gcode
- uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ )
float seek_rate; // Current rate for seeking moves ( mm/s )
float feed_rate; // Current rate for feeding moves ( mm/s )
float mm_per_line_segment; // Setting : Used to split lines into segments
int arc_correction; // Setting : how often to rectify arc computation
float max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
- float toolOffset[3];
-
// Used by Stepper, Planner
friend class Planner;
friend class Stepper;
-
- StepperMotor* alpha_stepper_motor;
- StepperMotor* beta_stepper_motor;
- StepperMotor* gamma_stepper_motor;
};
-// Convert from inches to millimeters ( our internal storage unit ) if needed
-inline float Robot::to_millimeters( float value ){
- return this->inch_mode ? value * 25.4 : value;
-}
-inline float Robot::from_millimeters( float value){
- return this->inch_mode ? value/25.4 : value;
-}
-inline void Robot::get_axis_position(float position[]){
- memcpy(position, this->last_milestone, sizeof(float)*3 );
-}
#endif
HCoop / clinton / Smoothieware.git / blobdiff