#include "libs/Module.h"
#include "libs/Kernel.h"
+#include "mbed.h" // for us_ticker_read()
+
#include <math.h>
#include <string>
using std::string;
#include "arm_solutions/BaseSolution.h"
#include "arm_solutions/CartesianSolution.h"
#include "arm_solutions/RotatableCartesianSolution.h"
-#include "arm_solutions/RostockSolution.h"
-#include "arm_solutions/JohannKosselSolution.h"
+#include "arm_solutions/LinearDeltaSolution.h"
#include "arm_solutions/HBotSolution.h"
+#include "arm_solutions/MorganSCARASolution.h"
#include "StepTicker.h"
#include "checksumm.h"
#include "utils.h"
#include "ConfigValue.h"
#include "libs/StreamOutput.h"
-#include "libs/StreamOutputPool.h"
-#include "libs/SerialMessage.h"
+#include "StreamOutputPool.h"
#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
#define cartesian_checksum CHECKSUM("cartesian")
#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
#define rostock_checksum CHECKSUM("rostock")
+#define linear_delta_checksum CHECKSUM("linear_delta")
#define delta_checksum CHECKSUM("delta")
#define hbot_checksum CHECKSUM("hbot")
#define corexy_checksum CHECKSUM("corexy")
#define kossel_checksum CHECKSUM("kossel")
+#define morgan_checksum CHECKSUM("morgan")
// stepper motor stuff
#define alpha_step_pin_checksum CHECKSUM("alpha_step_pin")
#define gamma_checksum CHECKSUM("gamma")
+#define NEXT_ACTION_DEFAULT 0
+#define NEXT_ACTION_DWELL 1
+#define NEXT_ACTION_GO_HOME 2
+
+#define MOTION_MODE_SEEK 0 // G0
+#define MOTION_MODE_LINEAR 1 // G1
+#define MOTION_MODE_CW_ARC 2 // G2
+#define MOTION_MODE_CCW_ARC 3 // G3
+#define MOTION_MODE_CANCEL 4 // G80
+
+#define PATH_CONTROL_MODE_EXACT_PATH 0
+#define PATH_CONTROL_MODE_EXACT_STOP 1
+#define PATH_CONTROL_MODE_CONTINOUS 2
+
+#define PROGRAM_FLOW_RUNNING 0
+#define PROGRAM_FLOW_PAUSED 1
+#define PROGRAM_FLOW_COMPLETED 2
+
+#define SPINDLE_DIRECTION_CW 0
+#define SPINDLE_DIRECTION_CCW 1
+
// 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
// It takes care of cutting arcs into segments, same thing for line that are too long
-#define max(a,b) (((a) > (b)) ? (a) : (b))
-Robot::Robot(){
+Robot::Robot()
+{
this->inch_mode = false;
this->absolute_mode = true;
this->motion_mode = MOTION_MODE_SEEK;
this->select_plane(X_AXIS, Y_AXIS, Z_AXIS);
clear_vector(this->last_milestone);
+ clear_vector(this->transformed_last_milestone);
this->arm_solution = NULL;
seconds_per_minute = 60.0F;
- this->clearToolOffset();
+ this->clearToolOffset();
+ this->compensationTransform= nullptr;
+ this->halted= false;
}
//Called when the module has just been loaded
-void Robot::on_module_loaded() {
- register_for_event(ON_CONFIG_RELOAD);
+void Robot::on_module_loaded()
+{
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_GET_PUBLIC_DATA);
this->register_for_event(ON_SET_PUBLIC_DATA);
+ this->register_for_event(ON_HALT);
// Configuration
this->on_config_reload(this);
}
-void Robot::on_config_reload(void* argument){
+void Robot::on_config_reload(void *argument)
+{
// Arm solutions are used to convert positions in millimeters into position in steps for each stepper motor.
// While for a cartesian arm solution, this is a simple multiplication, in other, less simple cases, there is some serious math to be done.
if(solution_checksum == hbot_checksum || solution_checksum == corexy_checksum) {
this->arm_solution = new HBotSolution(THEKERNEL->config);
- }else if(solution_checksum == rostock_checksum) {
- this->arm_solution = new RostockSolution(THEKERNEL->config);
-
- }else if(solution_checksum == kossel_checksum) {
- this->arm_solution = new JohannKosselSolution(THEKERNEL->config);
-
- }else if(solution_checksum == delta_checksum) {
- // place holder for now
- this->arm_solution = new RostockSolution(THEKERNEL->config);
+ } else if(solution_checksum == rostock_checksum || solution_checksum == kossel_checksum || solution_checksum == delta_checksum || solution_checksum == linear_delta_checksum) {
+ this->arm_solution = new LinearDeltaSolution(THEKERNEL->config);
- }else if(solution_checksum == rotatable_cartesian_checksum) {
+ } else if(solution_checksum == rotatable_cartesian_checksum) {
this->arm_solution = new RotatableCartesianSolution(THEKERNEL->config);
- }else if(solution_checksum == cartesian_checksum) {
+ } else if(solution_checksum == morgan_checksum) {
+ this->arm_solution = new MorganSCARASolution(THEKERNEL->config);
+
+ } else if(solution_checksum == cartesian_checksum) {
this->arm_solution = new CartesianSolution(THEKERNEL->config);
- }else{
+ } else {
this->arm_solution = new CartesianSolution(THEKERNEL->config);
}
// TODO: delete or detect old steppermotors
// Make our 3 StepperMotors
- this->alpha_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin) );
- this->beta_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin ) );
- this->gamma_stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin) );
+ this->alpha_stepper_motor = new StepperMotor(alpha_step_pin, alpha_dir_pin, alpha_en_pin);
+ this->beta_stepper_motor = new StepperMotor(beta_step_pin, beta_dir_pin, beta_en_pin );
+ this->gamma_stepper_motor = new StepperMotor(gamma_step_pin, gamma_dir_pin, gamma_en_pin);
alpha_stepper_motor->change_steps_per_mm(steps_per_mm[0]);
beta_stepper_motor->change_steps_per_mm(steps_per_mm[1]);
gamma_stepper_motor->change_steps_per_mm(steps_per_mm[2]);
- alpha_stepper_motor->max_rate = THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F;
- beta_stepper_motor->max_rate = THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F;
- gamma_stepper_motor->max_rate = THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F;
+ alpha_stepper_motor->set_max_rate(THEKERNEL->config->value(alpha_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F);
+ beta_stepper_motor->set_max_rate(THEKERNEL->config->value(beta_max_rate_checksum )->by_default(30000.0F)->as_number() / 60.0F);
+ gamma_stepper_motor->set_max_rate(THEKERNEL->config->value(gamma_max_rate_checksum)->by_default(30000.0F)->as_number() / 60.0F);
+ check_max_actuator_speeds(); // check the configs are sane
actuators.clear();
actuators.push_back(alpha_stepper_motor);
actuators.push_back(beta_stepper_motor);
actuators.push_back(gamma_stepper_motor);
+
// initialise actuator positions to current cartesian position (X0 Y0 Z0)
// so the first move can be correct if homing is not performed
float actuator_pos[3];
//this->clearToolOffset();
}
-void Robot::on_get_public_data(void* argument){
- PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+// this does a sanity check that actuator speeds do not exceed steps rate capability
+// we will override the actuator max_rate if the combination of max_rate and steps/sec exceeds base_stepping_frequency
+void Robot::check_max_actuator_speeds()
+{
+ float step_freq= alpha_stepper_motor->get_max_rate() * alpha_stepper_motor->get_steps_per_mm();
+ if(step_freq > THEKERNEL->base_stepping_frequency) {
+ alpha_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / alpha_stepper_motor->get_steps_per_mm()));
+ THEKERNEL->streams->printf("WARNING: alpha_max_rate exceeds base_stepping_frequency * alpha_steps_per_mm: %f, setting to %f\n", step_freq, alpha_stepper_motor->max_rate);
+ }
+
+ step_freq= beta_stepper_motor->get_max_rate() * beta_stepper_motor->get_steps_per_mm();
+ if(step_freq > THEKERNEL->base_stepping_frequency) {
+ beta_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / beta_stepper_motor->get_steps_per_mm()));
+ THEKERNEL->streams->printf("WARNING: beta_max_rate exceeds base_stepping_frequency * beta_steps_per_mm: %f, setting to %f\n", step_freq, beta_stepper_motor->max_rate);
+ }
+
+ step_freq= gamma_stepper_motor->get_max_rate() * gamma_stepper_motor->get_steps_per_mm();
+ if(step_freq > THEKERNEL->base_stepping_frequency) {
+ gamma_stepper_motor->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / gamma_stepper_motor->get_steps_per_mm()));
+ THEKERNEL->streams->printf("WARNING: gamma_max_rate exceeds base_stepping_frequency * gamma_steps_per_mm: %f, setting to %f\n", step_freq, gamma_stepper_motor->max_rate);
+ }
+}
+
+void Robot::on_halt(void *arg)
+{
+ halted= (arg == nullptr);
+}
+
+void Robot::on_get_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(robot_checksum)) return;
pdr->set_data_ptr(&return_data);
pdr->set_taken();
- }else if(pdr->second_element_is(current_position_checksum)) {
+ } else if(pdr->second_element_is(current_position_checksum)) {
static float return_data[3];
- return_data[0]= from_millimeters(this->last_milestone[0]);
- return_data[1]= from_millimeters(this->last_milestone[1]);
- return_data[2]= from_millimeters(this->last_milestone[2]);
+ return_data[0] = from_millimeters(this->last_milestone[0]);
+ return_data[1] = from_millimeters(this->last_milestone[1]);
+ return_data[2] = from_millimeters(this->last_milestone[2]);
pdr->set_data_ptr(&return_data);
pdr->set_taken();
}
}
-void Robot::on_set_public_data(void* argument){
- PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+void Robot::on_set_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
if(!pdr->starts_with(robot_checksum)) return;
if(pdr->second_element_is(speed_override_percent_checksum)) {
// NOTE do not use this while printing!
- float t= *static_cast<float*>(pdr->get_data_ptr());
+ float t = *static_cast<float *>(pdr->get_data_ptr());
// enforce minimum 10% speed
- if (t < 10.0F) t= 10.0F;
+ if (t < 10.0F) t = 10.0F;
this->seconds_per_minute = t / 0.6F; // t * 60 / 100
pdr->set_taken();
- }
- else if(pdr->second_element_is(current_position_checksum)) {
- float *t= static_cast<float*>(pdr->get_data_ptr());
- for (int i = 0; i < 3; i++){
+ } else if(pdr->second_element_is(current_position_checksum)) {
+ float *t = static_cast<float *>(pdr->get_data_ptr());
+ for (int i = 0; i < 3; i++) {
this->last_milestone[i] = this->to_millimeters(t[i]);
}
//A GCode has been received
//See if the current Gcode line has some orders for us
-void Robot::on_gcode_received(void * argument){
- Gcode* gcode = static_cast<Gcode*>(argument);
+void Robot::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
- //Temp variables, constant properties are stored in the object
- uint8_t next_action = NEXT_ACTION_DEFAULT;
this->motion_mode = -1;
- //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly
- if( gcode->has_g){
- switch( gcode->g ){
+ //G-letter Gcodes are mostly what the Robot module is interrested in, other modules also catch the gcode event and do stuff accordingly
+ if( gcode->has_g) {
+ switch( gcode->g ) {
case 0: this->motion_mode = MOTION_MODE_SEEK; gcode->mark_as_taken(); break;
case 1: this->motion_mode = MOTION_MODE_LINEAR; gcode->mark_as_taken(); break;
case 2: this->motion_mode = MOTION_MODE_CW_ARC; gcode->mark_as_taken(); break;
case 3: this->motion_mode = MOTION_MODE_CCW_ARC; gcode->mark_as_taken(); break;
+ case 4: {
+ uint32_t delay_ms= 0;
+ if (gcode->has_letter('P')) {
+ delay_ms= gcode->get_int('P');
+ }
+ if (gcode->has_letter('S')) {
+ delay_ms += gcode->get_int('S') * 1000;
+ }
+ if (delay_ms > 0){
+ // drain queue
+ THEKERNEL->conveyor->wait_for_empty_queue();
+ // wait for specified time
+ uint32_t start= us_ticker_read(); // mbed call
+ while ((us_ticker_read() - start) < delay_ms*1000) {
+ THEKERNEL->call_event(ON_IDLE, this);
+ }
+ }
+ gcode->mark_as_taken();
+ }
case 17: this->select_plane(X_AXIS, Y_AXIS, Z_AXIS); gcode->mark_as_taken(); break;
case 18: this->select_plane(X_AXIS, Z_AXIS, Y_AXIS); gcode->mark_as_taken(); break;
case 19: this->select_plane(Y_AXIS, Z_AXIS, X_AXIS); gcode->mark_as_taken(); break;
case 20: this->inch_mode = true; gcode->mark_as_taken(); break;
case 21: this->inch_mode = false; gcode->mark_as_taken(); break;
- case 28: this->clearToolOffset(); break;
case 90: this->absolute_mode = true; gcode->mark_as_taken(); break;
case 91: this->absolute_mode = false; gcode->mark_as_taken(); break;
case 92: {
- if(gcode->get_num_args() == 0){
- clear_vector(this->last_milestone);
- }else{
- for (char letter = 'X'; letter <= 'Z'; letter++){
- if ( gcode->has_letter(letter) )
- this->last_milestone[letter-'X'] = this->to_millimeters(gcode->get_value(letter));
+ if(gcode->get_num_args() == 0) {
+ for (int i = X_AXIS; i <= Z_AXIS; ++i) {
+ reset_axis_position(0, i);
}
- }
-
- // TODO: handle any number of actuators
- float actuator_pos[3];
- arm_solution->cartesian_to_actuator(last_milestone, actuator_pos);
- for (int i = 0; i < 3; i++)
- actuators[i]->change_last_milestone(actuator_pos[i]);
+ } else {
+ for (char letter = 'X'; letter <= 'Z'; letter++) {
+ if ( gcode->has_letter(letter) ) {
+ reset_axis_position(this->to_millimeters(gcode->get_value(letter)), letter - 'X');
+ }
+ }
+ }
gcode->mark_as_taken();
return;
- }
- }
- }else if( gcode->has_m){
- switch( gcode->m ){
+ }
+ }
+ } else if( gcode->has_m) {
+ switch( gcode->m ) {
case 92: // M92 - set steps per mm
if (gcode->has_letter('X'))
actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X')));
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);
gcode->add_nl = true;
gcode->mark_as_taken();
+ check_max_actuator_speeds();
return;
- case 114:
- {
- char buf[32];
- int n= snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f",
- from_millimeters(this->last_milestone[0]),
- from_millimeters(this->last_milestone[1]),
- from_millimeters(this->last_milestone[2]));
- gcode->txt_after_ok.append(buf, n);
- gcode->mark_as_taken();
+
+ case 114: {
+ char buf[64];
+ int n = snprintf(buf, sizeof(buf), "C: X:%1.3f Y:%1.3f Z:%1.3f A:%1.3f B:%1.3f C:%1.3f ",
+ from_millimeters(this->last_milestone[0]),
+ from_millimeters(this->last_milestone[1]),
+ from_millimeters(this->last_milestone[2]),
+ actuators[X_AXIS]->get_current_position(),
+ actuators[Y_AXIS]->get_current_position(),
+ actuators[Z_AXIS]->get_current_position() );
+ gcode->txt_after_ok.append(buf, n);
+ gcode->mark_as_taken();
+ }
+ return;
+
+ case 120: { // push state
+ gcode->mark_as_taken();
+ bool b= this->absolute_mode;
+ saved_state_t s(this->feed_rate, this->seek_rate, b);
+ state_stack.push(s);
+ }
+ break;
+
+ case 121: // pop state
+ gcode->mark_as_taken();
+ if(!state_stack.empty()) {
+ auto s= state_stack.top();
+ state_stack.pop();
+ this->feed_rate= std::get<0>(s);
+ this->seek_rate= std::get<1>(s);
+ this->absolute_mode= std::get<2>(s);
}
- return;
+ break;
case 203: // M203 Set maximum feedrates in mm/sec
if (gcode->has_letter('X'))
- this->max_speeds[X_AXIS]= gcode->get_value('X');
+ this->max_speeds[X_AXIS] = gcode->get_value('X');
if (gcode->has_letter('Y'))
- this->max_speeds[Y_AXIS]= gcode->get_value('Y');
+ this->max_speeds[Y_AXIS] = gcode->get_value('Y');
if (gcode->has_letter('Z'))
- this->max_speeds[Z_AXIS]= gcode->get_value('Z');
+ this->max_speeds[Z_AXIS] = gcode->get_value('Z');
if (gcode->has_letter('A'))
- alpha_stepper_motor->max_rate= gcode->get_value('A');
+ alpha_stepper_motor->set_max_rate(gcode->get_value('A'));
if (gcode->has_letter('B'))
- beta_stepper_motor->max_rate= gcode->get_value('B');
+ beta_stepper_motor->set_max_rate(gcode->get_value('B'));
if (gcode->has_letter('C'))
- gamma_stepper_motor->max_rate= gcode->get_value('C');
+ gamma_stepper_motor->set_max_rate(gcode->get_value('C'));
+
+ check_max_actuator_speeds();
gcode->stream->printf("X:%g Y:%g Z:%g A:%g B:%g C:%g ",
- this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS],
- alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate);
+ this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS],
+ alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate());
gcode->add_nl = true;
gcode->mark_as_taken();
break;
- case 204: // M204 Snnn - set acceleration to nnn, NB only Snnn is currently supported
+ case 204: // M204 Snnn - set acceleration to nnn, Znnn sets z acceleration
gcode->mark_as_taken();
- if (gcode->has_letter('S'))
- {
- // TODO for safety so it applies only to following gcodes, maybe a better way to do this?
- THEKERNEL->conveyor->wait_for_empty_queue();
- float acc= gcode->get_value('S'); // mm/s^2
+ if (gcode->has_letter('S')) {
+ float acc = gcode->get_value('S'); // mm/s^2
// enforce minimum
if (acc < 1.0F)
acc = 1.0F;
- THEKERNEL->planner->acceleration= acc;
+ THEKERNEL->planner->acceleration = acc;
+ }
+ if (gcode->has_letter('Z')) {
+ float acc = gcode->get_value('Z'); // mm/s^2
+ // enforce positive
+ if (acc < 0.0F)
+ acc = 0.0F;
+ THEKERNEL->planner->z_acceleration = acc;
}
break;
- case 205: // M205 Xnnn - set junction deviation Snnn - Set minimum planner speed
+ case 205: // M205 Xnnn - set junction deviation, Z - set Z junction deviation, Snnn - Set minimum planner speed, Ynnn - set minimum step rate
gcode->mark_as_taken();
- if (gcode->has_letter('X'))
- {
- float jd= gcode->get_value('X');
+ if (gcode->has_letter('X')) {
+ float jd = gcode->get_value('X');
// enforce minimum
if (jd < 0.0F)
jd = 0.0F;
- THEKERNEL->planner->junction_deviation= jd;
+ THEKERNEL->planner->junction_deviation = jd;
}
- if (gcode->has_letter('S'))
- {
- float mps= gcode->get_value('S');
+ if (gcode->has_letter('Z')) {
+ float jd = gcode->get_value('Z');
+ // enforce minimum, -1 disables it and uses regular junction deviation
+ if (jd < -1.0F)
+ jd = -1.0F;
+ THEKERNEL->planner->z_junction_deviation = jd;
+ }
+ if (gcode->has_letter('S')) {
+ float mps = gcode->get_value('S');
// enforce minimum
if (mps < 0.0F)
mps = 0.0F;
- THEKERNEL->planner->minimum_planner_speed= mps;
+ THEKERNEL->planner->minimum_planner_speed = mps;
+ }
+ if (gcode->has_letter('Y')) {
+ alpha_stepper_motor->default_minimum_actuator_rate = gcode->get_value('Y');
}
break;
case 220: // M220 - speed override percentage
gcode->mark_as_taken();
- if (gcode->has_letter('S'))
- {
+ if (gcode->has_letter('S')) {
float factor = gcode->get_value('S');
// enforce minimum 10% speed
if (factor < 10.0F)
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);
- 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->stream->printf(";Acceleration mm/sec^2:\nM204 S%1.5f Z%1.5f\n", THEKERNEL->planner->acceleration, THEKERNEL->planner->z_acceleration);
+ 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, THEKERNEL->planner->z_junction_deviation, THEKERNEL->planner->minimum_planner_speed);
gcode->stream->printf(";Max feedrates in mm/sec, XYZ cartesian, ABC actuator:\nM203 X%1.5f Y%1.5f Z%1.5f A%1.5f B%1.5f C%1.5f\n",
- this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS],
- alpha_stepper_motor->max_rate, beta_stepper_motor->max_rate, gamma_stepper_motor->max_rate);
+ this->max_speeds[X_AXIS], this->max_speeds[Y_AXIS], this->max_speeds[Z_AXIS],
+ alpha_stepper_motor->get_max_rate(), beta_stepper_motor->get_max_rate(), gamma_stepper_motor->get_max_rate());
// get or save any arm solution specific optional values
BaseSolution::arm_options_t options;
if(arm_solution->get_optional(options) && !options.empty()) {
gcode->stream->printf(";Optional arm solution specific settings:\nM665");
- for(auto& i : options) {
+ for(auto &i : options) {
gcode->stream->printf(" %c%1.4f", i.first, i.second);
}
gcode->stream->printf("\n");
case 665: { // M665 set optional arm solution variables based on arm solution.
gcode->mark_as_taken();
- // the parameter args could be any letter except S so ask solution what options it supports
- BaseSolution::arm_options_t options;
+ // the parameter args could be any letter each arm solution only accepts certain ones
+ BaseSolution::arm_options_t options= gcode->get_args();
+ options.erase('S'); // don't include the S
+ options.erase('U'); // don't include the U
+ if(options.size() > 0) {
+ // set the specified options
+ arm_solution->set_optional(options);
+ }
+ options.clear();
if(arm_solution->get_optional(options)) {
- for(auto& i : options) {
- // foreach optional value
- char c= i.first;
- if(gcode->has_letter(c)) { // set new value
- i.second= gcode->get_value(c);
- }
+ // foreach optional value
+ for(auto &i : options) {
// print all current values of supported options
gcode->stream->printf("%c: %8.4f ", i.first, i.second);
gcode->add_nl = true;
}
- // set the new options
- arm_solution->set_optional(options);
}
- // set delta segments per second, not saved by M500
- if(gcode->has_letter('S')) {
- this->delta_segments_per_second= gcode->get_value('S');
+ if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500
+ this->delta_segments_per_second = gcode->get_value('S');
+ gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second);
+
+ }else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
+ this->mm_per_line_segment = gcode->get_value('U');
+ this->delta_segments_per_second = 0;
+ gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment);
}
+
break;
}
}
if( this->motion_mode < 0)
return;
- //Get parameters
+ //Get parameters
float target[3], offset[3];
clear_vector(offset);
memcpy(target, this->last_milestone, sizeof(target)); //default to last target
- for(char letter = 'I'; letter <= 'K'; letter++){
- if( gcode->has_letter(letter) ){
- offset[letter-'I'] = this->to_millimeters(gcode->get_value(letter));
+ for(char letter = 'I'; letter <= 'K'; letter++) {
+ if( gcode->has_letter(letter) ) {
+ offset[letter - 'I'] = this->to_millimeters(gcode->get_value(letter));
}
}
- for(char letter = 'X'; letter <= 'Z'; letter++){
- if( gcode->has_letter(letter) ){
- target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? 0 : target[letter - 'X']) + this->toolOffset[letter - 'X'];
+ for(char letter = 'X'; letter <= 'Z'; letter++) {
+ if( gcode->has_letter(letter) ) {
+ target[letter - 'X'] = this->to_millimeters(gcode->get_value(letter)) + (this->absolute_mode ? this->toolOffset[letter - 'X'] : target[letter - 'X']);
}
}
- if( gcode->has_letter('F') )
- {
+ if( gcode->has_letter('F') ) {
if( this->motion_mode == MOTION_MODE_SEEK )
this->seek_rate = this->to_millimeters( gcode->get_value('F') );
else
}
//Perform any physical actions
- switch( next_action ){
- 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 / 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;
+ switch(this->motion_mode) {
+ case MOTION_MODE_CANCEL: 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;
}
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->position[] = target[];
+ // last_milestone was set to target in append_milestone, no need to do it again
}
// We received a new gcode, and one of the functions
// determined the distance for that given gcode. So now we can attach this gcode to the right block
// and continue
-void Robot::distance_in_gcode_is_known(Gcode* gcode){
-
+void Robot::distance_in_gcode_is_known(Gcode *gcode)
+{
//If the queue is empty, execute immediatly, otherwise attach to the last added block
THEKERNEL->conveyor->append_gcode(gcode);
}
-// Reset the position for all axes ( used in homing and G92 stuff )
-void Robot::reset_axis_position(float position, int axis) {
+// reset the position for all axis (used in homing for delta as last_milestone may be bogus)
+void Robot::reset_axis_position(float x, float y, float z)
+{
+ this->last_milestone[X_AXIS] = x;
+ this->last_milestone[Y_AXIS] = y;
+ this->last_milestone[Z_AXIS] = z;
+ this->transformed_last_milestone[X_AXIS] = x;
+ this->transformed_last_milestone[Y_AXIS] = y;
+ this->transformed_last_milestone[Z_AXIS] = z;
+
+ float actuator_pos[3];
+ arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
+ for (int i = 0; i < 3; i++)
+ actuators[i]->change_last_milestone(actuator_pos[i]);
+}
+
+// Reset the position for an axis (used in homing and G92)
+void Robot::reset_axis_position(float position, int axis)
+{
this->last_milestone[axis] = position;
+ this->transformed_last_milestone[axis] = position;
float actuator_pos[3];
- arm_solution->cartesian_to_actuator(last_milestone, actuator_pos);
+ arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
for (int i = 0; i < 3; i++)
actuators[i]->change_last_milestone(actuator_pos[i]);
}
+// Use FK to find out where actuator is and reset lastmilestone to match
+void Robot::reset_position_from_current_actuator_position()
+{
+ float actuator_pos[]= {actuators[X_AXIS]->get_current_position(), actuators[Y_AXIS]->get_current_position(), actuators[Z_AXIS]->get_current_position()};
+ arm_solution->actuator_to_cartesian(actuator_pos, this->last_milestone);
+ memcpy(this->transformed_last_milestone, this->last_milestone, sizeof(this->transformed_last_milestone));
+
+ // now reset actuator correctly, NOTE this may lose a little precision
+ arm_solution->cartesian_to_actuator(this->last_milestone, actuator_pos);
+ for (int i = 0; i < 3; i++)
+ actuators[i]->change_last_milestone(actuator_pos[i]);
+}
// Convert target from millimeters to steps, and append this to the planner
void Robot::append_milestone( float target[], float rate_mm_s )
float deltas[3];
float unit_vec[3];
float actuator_pos[3];
+ float transformed_target[3]; // adjust target for bed compensation
float millimeters_of_travel;
- // find distance moved by each axis
- for (int axis = X_AXIS; axis <= Z_AXIS; axis++)
- deltas[axis] = target[axis] - last_milestone[axis];
+ // unity transform by default
+ memcpy(transformed_target, target, sizeof(transformed_target));
+
+ // check function pointer and call if set to transform the target to compensate for bed
+ if(compensationTransform) {
+ // some compensation strategies can transform XYZ, some just change Z
+ compensationTransform(transformed_target);
+ }
+
+ // find distance moved by each axis, use transformed target from last_transformed_target
+ for (int axis = X_AXIS; axis <= Z_AXIS; axis++){
+ deltas[axis] = transformed_target[axis] - transformed_last_milestone[axis];
+ }
+ // store last transformed
+ memcpy(this->transformed_last_milestone, transformed_target, sizeof(this->transformed_last_milestone));
// Compute how long this move moves, so we can attach it to the block for later use
- millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) );
+ millimeters_of_travel = sqrtf( powf( deltas[X_AXIS], 2 ) + powf( deltas[Y_AXIS], 2 ) + powf( deltas[Z_AXIS], 2 ) );
// find distance unit vector
for (int i = 0; i < 3; i++)
unit_vec[i] = deltas[i] / millimeters_of_travel;
// Do not move faster than the configured cartesian limits
- for (int axis = X_AXIS; axis <= Z_AXIS; axis++)
- {
- if ( max_speeds[axis] > 0 )
- {
+ for (int axis = X_AXIS; axis <= Z_AXIS; axis++) {
+ if ( max_speeds[axis] > 0 ) {
float axis_speed = fabs(unit_vec[axis] * rate_mm_s);
if (axis_speed > max_speeds[axis])
}
}
- // find actuator position given cartesian position
- arm_solution->cartesian_to_actuator( target, actuator_pos );
+ // find actuator position given cartesian position, use actual adjusted target
+ arm_solution->cartesian_to_actuator( transformed_target, actuator_pos );
// check per-actuator speed limits
- for (int actuator = 0; actuator <= 2; actuator++)
- {
+ for (int actuator = 0; actuator <= 2; actuator++) {
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_mm_s *= (actuators[actuator]->max_rate / actuator_rate);
+ if (actuator_rate > actuators[actuator]->get_max_rate())
+ rate_mm_s *= (actuators[actuator]->get_max_rate() / actuator_rate);
}
// Append the block to the planner
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
+ // Update the last_milestone to the current target for the next time we use last_milestone, use the requested target not the adjusted one
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_mm_s ){
-
+void Robot::append_line(Gcode *gcode, float target[], float rate_mm_s )
+{
// Find out the distance for this gcode
- gcode->millimeters_of_travel = pow( target[X_AXIS]-this->last_milestone[X_AXIS], 2 ) + pow( target[Y_AXIS]-this->last_milestone[Y_AXIS], 2 ) + pow( target[Z_AXIS]-this->last_milestone[Z_AXIS], 2 );
+ // NOTE we need to do sqrt here as this setting of millimeters_of_travel is used by extruder and other modules even if there is no XYZ move
+ gcode->millimeters_of_travel = sqrtf(powf( target[X_AXIS] - this->last_milestone[X_AXIS], 2 ) + powf( target[Y_AXIS] - this->last_milestone[Y_AXIS], 2 ) + powf( target[Z_AXIS] - this->last_milestone[Z_AXIS], 2 ));
- // We ignore non-moves ( for example, extruder moves are not XYZ moves )
- if( gcode->millimeters_of_travel < 1e-8F ){
+ // We ignore non- XYZ moves ( for example, extruder moves are not XYZ moves )
+ if( gcode->millimeters_of_travel < 0.00001F ) {
return;
}
- gcode->millimeters_of_travel = sqrtf(gcode->millimeters_of_travel);
-
// Mark the gcode as having a known distance
this->distance_in_gcode_is_known( gcode );
// We cut the line into smaller segments. This is not usefull in a cartesian robot, but necessary for robots with rotational axes.
// In cartesian robot, a high "mm_per_line_segment" setting will prevent waste.
- // 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
+ // 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
uint16_t segments;
if(this->delta_segments_per_second > 1.0F) {
// the faster the travel speed the fewer segments needed
// NOTE rate is mm/sec and we take into account any speed override
float seconds = gcode->millimeters_of_travel / rate_mm_s;
- segments= max(1, ceil(this->delta_segments_per_second * seconds));
+ segments = max(1.0F, ceilf(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
- }else{
- if(this->mm_per_line_segment == 0.0F){
- segments= 1; // don't split it up
- }else{
- segments = ceil( gcode->millimeters_of_travel/ this->mm_per_line_segment);
+ } else {
+ if(this->mm_per_line_segment == 0.0F) {
+ segments = 1; // don't split it up
+ } else {
+ segments = ceilf( gcode->millimeters_of_travel / this->mm_per_line_segment);
}
}
- if (segments > 1)
- {
+ if (segments > 1) {
// A vector to keep track of the endpoint of each segment
float segment_delta[3];
float segment_end[3];
// segment 0 is already done - it's the end point of the previous move so we start at segment 1
// We always add another point after this loop so we stop at segments-1, ie i < segments
- for (int i = 1; i < segments; i++)
- {
- for(int axis=X_AXIS; axis <= Z_AXIS; axis++ )
+ for (int i = 1; i < segments; i++) {
+ if(halted) return; // don't queue any more segments
+ for(int axis = X_AXIS; axis <= Z_AXIS; axis++ )
segment_end[axis] = last_milestone[axis] + segment_delta[axis];
// Append the end of this segment to the queue
// Append an arc to the queue ( cutting it into segments as needed )
-void Robot::append_arc(Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise ){
+void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radius, bool is_clockwise )
+{
// Scary math
float center_axis0 = this->last_milestone[this->plane_axis_0] + offset[this->plane_axis_0];
float rt_axis1 = target[this->plane_axis_1] - center_axis1;
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
- float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
- if (angular_travel < 0) { angular_travel += 2*M_PI; }
- if (is_clockwise) { angular_travel -= 2*M_PI; }
+ float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
+ if (angular_travel < 0) {
+ angular_travel += 2 * M_PI;
+ }
+ if (is_clockwise) {
+ angular_travel -= 2 * M_PI;
+ }
// Find the distance for this gcode
- gcode->millimeters_of_travel = hypotf(angular_travel*radius, fabs(linear_travel));
+ gcode->millimeters_of_travel = hypotf(angular_travel * radius, fabs(linear_travel));
// We don't care about non-XYZ moves ( for example the extruder produces some of those )
- if( gcode->millimeters_of_travel < 0.0001F ){ return; }
+ if( gcode->millimeters_of_travel < 0.00001F ) {
+ return;
+ }
// Mark the gcode as having a known distance
this->distance_in_gcode_is_known( gcode );
// Figure out how many segments for this gcode
- uint16_t segments = floor(gcode->millimeters_of_travel/this->mm_per_arc_segment);
+ uint16_t segments = floorf(gcode->millimeters_of_travel / this->mm_per_arc_segment);
- float theta_per_segment = angular_travel/segments;
- float linear_per_segment = linear_travel/segments;
+ float theta_per_segment = angular_travel / segments;
+ float linear_per_segment = linear_travel / segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
This is important when there are successive arc motions.
*/
// Vector rotation matrix values
- float cos_T = 1-0.5F*theta_per_segment*theta_per_segment; // Small angle approximation
+ float cos_T = 1 - 0.5F * theta_per_segment * theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[3];
// Initialize the linear axis
arc_target[this->plane_axis_2] = this->last_milestone[this->plane_axis_2];
- for (i = 1; i<segments; i++) { // Increment (segments-1)
+ for (i = 1; i < segments; i++) { // Increment (segments-1)
+ if(halted) return; // don't queue any more segments
if (count < this->arc_correction ) {
- // Apply vector rotation matrix
- r_axisi = r_axis0*sin_T + r_axis1*cos_T;
- r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
- r_axis1 = r_axisi;
- count++;
+ // Apply vector rotation matrix
+ r_axisi = r_axis0 * sin_T + r_axis1 * cos_T;
+ r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T;
+ r_axis1 = r_axisi;
+ count++;
} else {
- // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
- // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
- cos_Ti = cosf(i*theta_per_segment);
- sin_Ti = sinf(i*theta_per_segment);
- r_axis0 = -offset[this->plane_axis_0]*cos_Ti + offset[this->plane_axis_1]*sin_Ti;
- r_axis1 = -offset[this->plane_axis_0]*sin_Ti - offset[this->plane_axis_1]*cos_Ti;
- count = 0;
+ // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+ // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+ cos_Ti = cosf(i * theta_per_segment);
+ sin_Ti = sinf(i * theta_per_segment);
+ r_axis0 = -offset[this->plane_axis_0] * cos_Ti + offset[this->plane_axis_1] * sin_Ti;
+ r_axis1 = -offset[this->plane_axis_0] * sin_Ti - offset[this->plane_axis_1] * cos_Ti;
+ count = 0;
}
// Update arc_target location
}
// Do the math for an arc and add it to the queue
-void Robot::compute_arc(Gcode* gcode, float offset[], float target[]){
+void Robot::compute_arc(Gcode *gcode, float offset[], float target[])
+{
// Find the radius
float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]);
// Set clockwise/counter-clockwise sign for mc_arc computations
bool is_clockwise = false;
- if( this->motion_mode == MOTION_MODE_CW_ARC ){ is_clockwise = true; }
+ if( this->motion_mode == MOTION_MODE_CW_ARC ) {
+ is_clockwise = true;
+ }
// Append arc
this->append_arc(gcode, target, offset, radius, is_clockwise );
}
-float Robot::theta(float x, float y){
- float t = atanf(x/fabs(y));
- if (y>0) {return(t);} else {if (t>0){return(M_PI-t);} else {return(-M_PI-t);}}
+float Robot::theta(float x, float y)
+{
+ float t = atanf(x / fabs(y));
+ if (y > 0) {
+ return(t);
+ } else {
+ if (t > 0) {
+ return(M_PI - t);
+ } else {
+ return(-M_PI - t);
+ }
+ }
}
-void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2){
+void Robot::select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
+{
this->plane_axis_0 = axis_0;
this->plane_axis_1 = axis_1;
this->plane_axis_2 = axis_2;
}
-void Robot::setToolOffset(float offsetx, float offsety, float offsetz) {
- THEKERNEL->streams->printf("SETTOOLOFFSET CALLED WITH: %1.3f %1.3f %1.3f\n", this->toolOffset[0], this->toolOffset[1], this->toolOffset[2]);
- this->toolOffset[0] = offsetx;
- this->toolOffset[1] = offsety;
- this->toolOffset[2] = offsetz;
- THEKERNEL->streams->printf("SETTOOLOFFSET CALLED WITH: %1.3f %1.3f %1.3f\n", this->toolOffset[0], this->toolOffset[1], this->toolOffset[2]);
+void Robot::clearToolOffset()
+{
+ memset(this->toolOffset, 0, sizeof(this->toolOffset));
}
-void Robot::clearToolOffset() {
- this->toolOffset[0] = 0.0f;
- this->toolOffset[1] = 0.0f;
- this->toolOffset[2] = 0.0f;
+void Robot::setToolOffset(const float offset[3])
+{
+ memcpy(this->toolOffset, offset, sizeof(this->toolOffset));
}
HCoop / clinton / Smoothieware.git / blobdiff