#include "modules/robot/Conveyor.h"
#include "modules/robot/Block.h"
#include "StepperMotor.h"
+#include "SlowTicker.h"
+#include "Stepper.h"
+#include "StepTicker.h"
+#include "Config.h"
+#include "StepperMotor.h"
+#include "Robot.h"
+#include "checksumm.h"
+#include "ConfigValue.h"
+#include "Gcode.h"
+#include "libs/StreamOutput.h"
+#include "PublicDataRequest.h"
#include <mri.h>
+// OLD config names for backwards compatibility, NOTE new configs will not be added here
#define extruder_module_enable_checksum CHECKSUM("extruder_module_enable")
#define extruder_steps_per_mm_checksum CHECKSUM("extruder_steps_per_mm")
+#define extruder_filament_diameter_checksum CHECKSUM("extruder_filament_diameter")
#define extruder_acceleration_checksum CHECKSUM("extruder_acceleration")
#define extruder_step_pin_checksum CHECKSUM("extruder_step_pin")
#define extruder_dir_pin_checksum CHECKSUM("extruder_dir_pin")
#define extruder_en_pin_checksum CHECKSUM("extruder_en_pin")
#define extruder_max_speed_checksum CHECKSUM("extruder_max_speed")
+// NEW config names
#define extruder_checksum CHECKSUM("extruder")
#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
#define steps_per_mm_checksum CHECKSUM("steps_per_mm")
+#define filament_diameter_checksum CHECKSUM("filament_diameter")
#define acceleration_checksum CHECKSUM("acceleration")
#define step_pin_checksum CHECKSUM("step_pin")
#define dir_pin_checksum CHECKSUM("dir_pin")
#define y_offset_checksum CHECKSUM("y_offset")
#define z_offset_checksum CHECKSUM("z_offset")
+#define retract_length_checksum CHECKSUM("retract_length")
+#define retract_feedrate_checksum CHECKSUM("retract_feedrate")
+#define retract_recover_length_checksum CHECKSUM("retract_recover_length")
+#define retract_recover_feedrate_checksum CHECKSUM("retract_recover_feedrate")
+#define retract_zlift_length_checksum CHECKSUM("retract_zlift_length")
+#define retract_zlift_feedrate_checksum CHECKSUM("retract_zlift_feedrate")
+
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
+#define OFF 0
+#define SOLO 1
+#define FOLLOW 2
+
+#define PI 3.14159265358979F
+
#define max(a,b) (((a) > (b)) ? (a) : (b))
/* The extruder module controls a filament extruder for 3D printing: http://en.wikipedia.org/wiki/Fused_deposition_modeling
* or the head moves, and the extruder moves plastic at a speed proportional to the movement of the head ( FOLLOW mode here ).
*/
-Extruder::Extruder( uint16_t config_identifier ) {
+Extruder::Extruder( uint16_t config_identifier, bool single )
+{
this->absolute_mode = true;
this->enabled = false;
this->paused = false;
- this->single_config = false;
+ this->single_config = single;
this->identifier = config_identifier;
+ this->retracted = false;
+ this->volumetric_multiplier= 1.0F;
- for(int i=0;i<3;i++){
- this->offset[i] = 0;
- }
+ memset(this->offset, 0, sizeof(this->offset));
}
-void Extruder::on_module_loaded() {
+void Extruder::on_module_loaded()
+{
// Settings
this->on_config_reload(this);
// We work on the same Block as Stepper, so we need to know when it gets a new one and drops one
- register_for_event(ON_CONFIG_RELOAD);
this->register_for_event(ON_BLOCK_BEGIN);
this->register_for_event(ON_BLOCK_END);
this->register_for_event(ON_GCODE_RECEIVED);
this->register_for_event(ON_PLAY);
this->register_for_event(ON_PAUSE);
this->register_for_event(ON_SPEED_CHANGE);
+ this->register_for_event(ON_GET_PUBLIC_DATA);
// Start values
this->target_position = 0;
// Update speed every *acceleration_ticks_per_second*
// TODO: Make this an independent setting
- THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Extruder::acceleration_tick );
+ THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->get_acceleration_ticks_per_second() , this, &Extruder::acceleration_tick );
// Stepper motor object for the extruder
this->stepper_motor = THEKERNEL->step_ticker->add_stepper_motor( new StepperMotor(step_pin, dir_pin, en_pin) );
this->stepper_motor->attach(this, &Extruder::stepper_motor_finished_move );
-
}
// Get config
-void Extruder::on_config_reload(void* argument){
-
- // If this module uses the old "single extruder" configuration style
- if( this->single_config ){
+void Extruder::on_config_reload(void *argument)
+{
+ if( this->single_config ) {
+ // If this module uses the old "single extruder" configuration style
this->steps_per_millimeter = THEKERNEL->config->value(extruder_steps_per_mm_checksum )->by_default(1)->as_number();
+ this->filament_diameter = THEKERNEL->config->value(extruder_filament_diameter_checksum )->by_default(0)->as_number();
this->acceleration = THEKERNEL->config->value(extruder_acceleration_checksum )->by_default(1000)->as_number();
this->max_speed = THEKERNEL->config->value(extruder_max_speed_checksum )->by_default(1000)->as_number();
this->feed_rate = THEKERNEL->config->value(default_feed_rate_checksum )->by_default(1000)->as_number();
this->dir_pin.from_string( THEKERNEL->config->value(extruder_dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
this->en_pin.from_string( THEKERNEL->config->value(extruder_en_pin_checksum )->by_default("nc" )->as_string())->as_output();
- for(int i=0;i<3;i++){
+ for(int i = 0; i < 3; i++) {
this->offset[i] = 0;
}
this->enabled = true;
- }else{
- // If this module was created with the new multi extruder configuration style
+ } else {
+ // If this module was created with the new multi extruder configuration style
- this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number();
- this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number();
- this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number();
- this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number();
+ this->steps_per_millimeter = THEKERNEL->config->value(extruder_checksum, this->identifier, steps_per_mm_checksum )->by_default(1)->as_number();
+ this->filament_diameter = THEKERNEL->config->value(extruder_checksum, this->identifier, filament_diameter_checksum )->by_default(0)->as_number();
+ this->acceleration = THEKERNEL->config->value(extruder_checksum, this->identifier, acceleration_checksum )->by_default(1000)->as_number();
+ this->max_speed = THEKERNEL->config->value(extruder_checksum, this->identifier, max_speed_checksum )->by_default(1000)->as_number();
+ this->feed_rate = THEKERNEL->config->value( default_feed_rate_checksum )->by_default(1000)->as_number();
- this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output();
+ this->step_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, step_pin_checksum )->by_default("nc" )->as_string())->as_output();
+ this->dir_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, dir_pin_checksum )->by_default("nc" )->as_string())->as_output();
+ this->en_pin.from_string( THEKERNEL->config->value(extruder_checksum, this->identifier, en_pin_checksum )->by_default("nc" )->as_string())->as_output();
- this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number();
- this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number();
- this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number();
+ this->offset[X_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, x_offset_checksum )->by_default(0)->as_number();
+ this->offset[Y_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, y_offset_checksum )->by_default(0)->as_number();
+ this->offset[Z_AXIS] = THEKERNEL->config->value(extruder_checksum, this->identifier, z_offset_checksum )->by_default(0)->as_number();
}
+ // these are only supported in the new syntax, no need to be backward compatible as they did not exist before the change
+ this->retract_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_length_checksum)->by_default(3)->as_number();
+ this->retract_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_feedrate_checksum)->by_default(45)->as_number();
+ this->retract_recover_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_length_checksum)->by_default(0)->as_number();
+ this->retract_recover_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_recover_feedrate_checksum)->by_default(8)->as_number();
+ this->retract_zlift_length = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_length_checksum)->by_default(0)->as_number();
+ this->retract_zlift_feedrate = THEKERNEL->config->value(extruder_checksum, this->identifier, retract_zlift_feedrate_checksum)->by_default(100*60)->as_number(); // mm/min
+
+ if(filament_diameter > 0.01) {
+ this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
+ }
}
+void Extruder::on_get_public_data(void* argument){
+ PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
+
+ if(!pdr->starts_with(extruder_checksum)) return;
+
+ if(this->enabled) {
+ // Note this is allowing both step/mm and filament diameter to be exposed via public data
+ pdr->set_data_ptr(&this->steps_per_millimeter);
+ pdr->set_taken();
+ }
+}
// When the play/pause button is set to pause, or a module calls the ON_PAUSE event
-void Extruder::on_pause(void* argument){
+void Extruder::on_pause(void *argument)
+{
this->paused = true;
this->stepper_motor->pause();
}
// When the play/pause button is set to play, or a module calls the ON_PLAY event
-void Extruder::on_play(void* argument){
+void Extruder::on_play(void *argument)
+{
this->paused = false;
this->stepper_motor->unpause();
}
+void Extruder::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
-void Extruder::on_gcode_received(void *argument){
- if(!this->enabled) return;
- Gcode *gcode = static_cast<Gcode*>(argument);
-
- // Gcodes to execute immediately
- if (gcode->has_m){
- if (gcode->m == 114){
- gcode->stream->printf("E:%4.1f ", this->current_position);
- gcode->add_nl = true;
+ // M codes most execute immediately, most only execute if enabled
+ if (gcode->has_m) {
+ if (gcode->m == 114 && this->enabled) {
+ char buf[16];
+ int n = snprintf(buf, sizeof(buf), " E:%1.3f ", this->current_position);
+ gcode->txt_after_ok.append(buf, n);
gcode->mark_as_taken();
- }else if (gcode->m == 92 ){
+ } else if (gcode->m == 92 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier) ) ) {
float spm = this->steps_per_millimeter;
- if (gcode->has_letter('E'))
+ if (gcode->has_letter('E')) {
spm = gcode->get_value('E');
+ this->steps_per_millimeter = spm;
+ }
+
gcode->stream->printf("E:%g ", spm);
gcode->add_nl = true;
gcode->mark_as_taken();
- }else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
- gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
+ } else if (gcode->m == 200 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ if (gcode->has_letter('D')) {
+ THEKERNEL->conveyor->wait_for_empty_queue(); // only apply after the queue has emptied
+ this->filament_diameter = gcode->get_value('D');
+ if(filament_diameter > 0.01) {
+ this->volumetric_multiplier = 1.0F / (powf(this->filament_diameter / 2, 2) * PI);
+ }else{
+ this->volumetric_multiplier = 1.0F;
+ }
+ }
+ gcode->mark_as_taken();
+
+ } else if (gcode->m == 207 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] Q[zlift feedrate mm/min]
+ if(gcode->has_letter('S')) retract_length = gcode->get_value('S');
+ if(gcode->has_letter('F')) retract_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec
+ if(gcode->has_letter('Z')) retract_zlift_length = gcode->get_value('Z');
+ if(gcode->has_letter('Q')) retract_zlift_feedrate = gcode->get_value('Q');
+ gcode->mark_as_taken();
+
+ } else if (gcode->m == 208 && ( (this->enabled && !gcode->has_letter('P')) || (gcode->has_letter('P') && gcode->get_value('P') == this->identifier)) ) {
+ // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
+ if(gcode->has_letter('S')) retract_recover_length = gcode->get_value('S');
+ if(gcode->has_letter('F')) retract_recover_feedrate = gcode->get_value('F')/60.0F; // specified in mm/min converted to mm/sec
+ gcode->mark_as_taken();
+
+ } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
+ if( this->single_config ) {
+ gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f\n", this->steps_per_millimeter);
+ gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter);
+ gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate);
+ gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F);
+
+ } else {
+ gcode->stream->printf(";E Steps per mm:\nM92 E%1.4f P%d\n", this->steps_per_millimeter, this->identifier);
+ gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
+ gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier);
+ gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F, this->identifier);
+ }
+ gcode->mark_as_taken();
+
+ } else if( gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 ) {
+ // Mcodes to pass along to on_gcode_execute
+ THEKERNEL->conveyor->append_gcode(gcode);
gcode->mark_as_taken();
- return;
}
- }
- // Gcodes to pass along to on_gcode_execute
- if( ( gcode->has_m && (gcode->m == 17 || gcode->m == 18 || gcode->m == 82 || gcode->m == 83 || gcode->m == 84 || gcode->m == 92 ) ) || ( gcode->has_g && gcode->g == 92 && gcode->has_letter('E') ) || ( gcode->has_g && ( gcode->g == 90 || gcode->g == 91 ) ) ){
- THEKERNEL->conveyor->append_gcode(gcode);
- }
+ }else if(gcode->has_g) {
+ // G codes, NOTE some are ignored if not enabled
+ if( (gcode->g == 92 && gcode->has_letter('E')) || (gcode->g == 90 || gcode->g == 91) ) {
+ // Gcodes to pass along to on_gcode_execute
+ THEKERNEL->conveyor->append_gcode(gcode);
+ gcode->mark_as_taken();
- // Add to the queue for on_gcode_execute to process
- if( gcode->has_g && gcode->g < 4 && gcode->has_letter('E') ){
- if( !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ){
+ }else if( this->enabled && gcode->g < 4 && gcode->has_letter('E') && !gcode->has_letter('X') && !gcode->has_letter('Y') && !gcode->has_letter('Z') ) {
+ // This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
THEKERNEL->conveyor->append_gcode(gcode);
+ THEKERNEL->conveyor->queue_head_block();
+ gcode->mark_as_taken();
+
+ }else if( this->enabled && (gcode->g == 10 || gcode->g == 11) ) { // firmware retract command
+ gcode->mark_as_taken();
+ // check we are in the correct state of retract or unretract
+ if(gcode->g == 10 && !retracted)
+ retracted= true;
+ else if(gcode->g == 11 && retracted)
+ retracted= false;
+ else
+ return; // ignore duplicates
+
+ // now we do a special hack to add zlift if needed, this should go in Robot but if it did the zlift would be executed before retract which is bad
+ // this way zlift will happen after retract, (or before for unretract) NOTE we call the robot->on_gcode_receive directly to avoid recursion
+ if(retract_zlift_length > 0 && gcode->g == 11) {
+ // reverse zlift happens before unretract
+ char buf[32];
+ int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", -retract_zlift_length, retract_zlift_feedrate);
+ string cmd(buf, n);
+ Gcode gc(cmd, &(StreamOutput::NullStream));
+ bool oldmode= THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
+ THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
+ THEKERNEL->robot->absolute_mode= oldmode; // restore mode
+ }
+
// This is a solo move, we add an empty block to the queue to prevent subsequent gcodes being executed at the same time
+ THEKERNEL->conveyor->append_gcode(gcode);
THEKERNEL->conveyor->queue_head_block();
- }
- }else{
- // This is for follow move
+ if(retract_zlift_length > 0 && gcode->g == 10) {
+ char buf[32];
+ int n= snprintf(buf, sizeof(buf), "G0 Z%1.4f F%1.4f", retract_zlift_length, retract_zlift_feedrate);
+ string cmd(buf, n);
+ Gcode gc(cmd, &(StreamOutput::NullStream));
+ bool oldmode= THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->absolute_mode= false; // needs to be relative mode
+ THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
+ THEKERNEL->robot->absolute_mode= oldmode; // restore mode
+ }
+ }
}
}
// Compute extrusion speed based on parameters and gcode distance of travel
-void Extruder::on_gcode_execute(void* argument){
- if(!this->enabled) return;
- Gcode* gcode = static_cast<Gcode*>(argument);
-
- // Absolute/relative mode
- if( gcode->has_m ){
- if( gcode->m == 17 ){ this->en_pin.set(0); }
- if( gcode->m == 18 ){ this->en_pin.set(1); }
- if( gcode->m == 82 ){ this->absolute_mode = true; }
- if( gcode->m == 83 ){ this->absolute_mode = false; }
- if( gcode->m == 84 ){ this->en_pin.set(1); }
- if (gcode->m == 92 ){
- if (gcode->has_letter('E')){
- this->steps_per_millimeter = gcode->get_value('E');
- }
- }
- }
+void Extruder::on_gcode_execute(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
// The mode is OFF by default, and SOLO or FOLLOW only if we need to extrude
this->mode = OFF;
- if( gcode->has_g ){
+ // Absolute/relative mode, globably modal affect all extruders whether enabled or not
+ if( gcode->has_m ) {
+ switch(gcode->m) {
+ case 17:
+ this->en_pin.set(0);
+ break;
+ case 18:
+ this->en_pin.set(1);
+ break;
+ case 82:
+ this->absolute_mode = true;
+ break;
+ case 83:
+ this->absolute_mode = false;
+ break;
+ case 84:
+ this->en_pin.set(1);
+ break;
+ }
+ return;
+
+ } else if( gcode->has_g && (gcode->g == 90 || gcode->g == 91) ) {
+ this->absolute_mode = (gcode->g == 90);
+ return;
+ }
+
+
+ if( gcode->has_g && this->enabled ) {
// G92: Reset extruder position
- if( gcode->g == 92 ){
- gcode->mark_as_taken();
- if( gcode->has_letter('E') ){
+ if( gcode->g == 92 ) {
+ if( gcode->has_letter('E') ) {
this->current_position = gcode->get_value('E');
this->target_position = this->current_position;
this->unstepped_distance = 0;
- }else if( gcode->get_num_args() == 0){
+ } else if( gcode->get_num_args() == 0) {
this->current_position = 0.0;
this->target_position = this->current_position;
this->unstepped_distance = 0;
}
- }else if ((gcode->g == 0) || (gcode->g == 1)){
+
+ } else if (gcode->g == 10) {
+ // FW retract command
+ feed_rate= retract_feedrate; // mm/sec
+ this->mode = SOLO;
+ this->travel_distance = -retract_length;
+ this->target_position += this->travel_distance;
+ this->en_pin.set(0);
+
+ } else if (gcode->g == 11) {
+ // un retract command
+ feed_rate= retract_recover_feedrate; // mm/sec
+ this->mode = SOLO;
+ this->travel_distance = (retract_length + retract_recover_length);
+ this->target_position += this->travel_distance;
+ this->en_pin.set(0);
+
+ } else if (gcode->g == 0 || gcode->g == 1) {
// Extrusion length from 'G' Gcode
- if( gcode->has_letter('E' )){
+ if( gcode->has_letter('E' )) {
// Get relative extrusion distance depending on mode ( in absolute mode we must substract target_position )
float extrusion_distance = gcode->get_value('E');
float relative_extrusion_distance = extrusion_distance;
- if (this->absolute_mode)
- {
+ if (this->absolute_mode) {
relative_extrusion_distance -= this->target_position;
this->target_position = extrusion_distance;
- }
- else
- {
+ } else {
this->target_position += relative_extrusion_distance;
}
// If the robot is moving, we follow it's movement, otherwise, we move alone
- if( fabs(gcode->millimeters_of_travel) < 0.0001 ){ // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg
+ if( fabs(gcode->millimeters_of_travel) < 0.0001F ) { // With floating numbers, we can have 0 != 0 ... beeeh. For more info see : http://upload.wikimedia.org/wikipedia/commons/0/0a/Cain_Henri_Vidal_Tuileries.jpg
this->mode = SOLO;
this->travel_distance = relative_extrusion_distance;
- }else{
+ } else {
// We move proportionally to the robot's movement
this->mode = FOLLOW;
- this->travel_ratio = relative_extrusion_distance / gcode->millimeters_of_travel;
+ this->travel_ratio = (relative_extrusion_distance * this->volumetric_multiplier) / gcode->millimeters_of_travel; // adjust for volumetric extrusion
// TODO: check resulting flowrate, limit robot speed if it exceeds max_speed
}
this->en_pin.set(0);
}
- }else if( gcode->g == 90 ){ this->absolute_mode = true;
- }else if( gcode->g == 91 ){ this->absolute_mode = false;
+
+ if (gcode->has_letter('F')) {
+ feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute();
+ if (feed_rate > max_speed)
+ feed_rate = max_speed;
+ }
}
}
- if (gcode->has_letter('F'))
- {
- feed_rate = gcode->get_value('F') / THEKERNEL->robot->seconds_per_minute;
- if (feed_rate > max_speed)
- feed_rate = max_speed;
- }
}
// When a new block begins, either follow the robot, or step by ourselves ( or stay back and do nothing )
-void Extruder::on_block_begin(void* argument){
+void Extruder::on_block_begin(void *argument)
+{
if(!this->enabled) return;
- Block* block = static_cast<Block*>(argument);
+ Block *block = static_cast<Block *>(argument);
- if( this->mode == SOLO ){
+ if( this->mode == SOLO ) {
// In solo mode we take the block so we can move even if the stepper has nothing to do
this->current_position += this->travel_distance ;
- int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance +this->unstepped_distance) )));
+ int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
- if ( this->travel_distance > 0 ){
- this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
+ if ( this->travel_distance > 0 ) {
+ this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow
} else {
- this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
+ this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow
}
- if( steps_to_step != 0 ){
+ if( steps_to_step != 0 ) {
// We take the block, we have to release it or everything gets stuck
block->take();
this->current_block = block;
- this->stepper_motor->steps_per_second = 0;
+ this->stepper_motor->set_steps_per_second(0);
this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step);
- }else{
+ } else {
this->current_block = NULL;
}
- }else if( this->mode == FOLLOW ){
+ } else if( this->mode == FOLLOW ) {
// In non-solo mode, we just follow the stepper module
this->travel_distance = block->millimeters * this->travel_ratio;
int steps_to_step = abs(int(floor(this->steps_per_millimeter * (this->travel_distance + this->unstepped_distance) )));
- if ( this->travel_distance > 0 ){
- this->unstepped_distance += this->travel_distance -(steps_to_step/this->steps_per_millimeter); //catch any overflow
+ if ( this->travel_distance > 0 ) {
+ this->unstepped_distance += this->travel_distance - (steps_to_step / this->steps_per_millimeter); //catch any overflow
} else {
- this->unstepped_distance += this->travel_distance +(steps_to_step/this->steps_per_millimeter); //catch any overflow
+ this->unstepped_distance += this->travel_distance + (steps_to_step / this->steps_per_millimeter); //catch any overflow
}
- if( steps_to_step != 0 ){
+ if( steps_to_step != 0 ) {
block->take();
this->current_block = block;
this->stepper_motor->move( ( this->travel_distance > 0 ), steps_to_step );
this->on_speed_change(0); // initialise speed in case we get called first
- }else{
+ } else {
this->current_block = NULL;
}
- }else if( this->mode == OFF ){
+ } else if( this->mode == OFF ) {
// No movement means we must reset our speed
this->current_block = NULL;
//this->stepper_motor->set_speed(0);
}
// When a block ends, pause the stepping interrupt
-void Extruder::on_block_end(void* argument){
+void Extruder::on_block_end(void *argument)
+{
if(!this->enabled) return;
this->current_block = NULL;
}
// Called periodically to change the speed to match acceleration or to match the speed of the robot
-uint32_t Extruder::acceleration_tick(uint32_t dummy){
+uint32_t Extruder::acceleration_tick(uint32_t dummy)
+{
if(!this->enabled) return 0;
// Avoid trying to work when we really shouldn't ( between blocks or re-entry )
- if( this->current_block == NULL || this->paused || this->mode != SOLO ){ return 0; }
+ if( this->current_block == NULL || this->paused || this->mode != SOLO ) {
+ return 0;
+ }
- uint32_t current_rate = this->stepper_motor->steps_per_second;
+ uint32_t current_rate = this->stepper_motor->get_steps_per_second();
uint32_t target_rate = int(floor(this->feed_rate * this->steps_per_millimeter));
- if( current_rate < target_rate ){
- uint32_t rate_increase = int(floor((this->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_millimeter));
+ if( current_rate < target_rate ) {
+ uint32_t rate_increase = int(floor((this->acceleration / THEKERNEL->stepper->get_acceleration_ticks_per_second()) * this->steps_per_millimeter));
current_rate = min( target_rate, current_rate + rate_increase );
}
- if( current_rate > target_rate ){ current_rate = target_rate; }
+ if( current_rate > target_rate ) {
+ current_rate = target_rate;
+ }
// steps per second
- this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
+ this->stepper_motor->set_speed(max(current_rate, THEKERNEL->stepper->get_minimum_steps_per_second()));
return 0;
}
// Speed has been updated for the robot's stepper, we must update accordingly
-void Extruder::on_speed_change( void* argument ){
+void Extruder::on_speed_change( void *argument )
+{
if(!this->enabled) return;
// Avoid trying to work when we really shouldn't ( between blocks or re-entry )
- if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->moving != true ){ return; }
+ if( this->current_block == NULL || this->paused || this->mode != FOLLOW || this->stepper_motor->is_moving() != true ) {
+ return;
+ }
/*
* nominal block duration = current block's steps / ( current block's nominal rate )
* or even : ( stepper steps per second ) * ( extruder steps / current block's steps )
*/
- this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->trapezoid_adjusted_rate) * ( (float)this->stepper_motor->steps_to_move / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->minimum_steps_per_second ) );
+ this->stepper_motor->set_speed( max( ( THEKERNEL->stepper->get_trapezoid_adjusted_rate()) * ( (float)this->stepper_motor->get_steps_to_move() / (float)this->current_block->steps_event_count ), THEKERNEL->stepper->get_minimum_steps_per_second() ) );
}
-
-
// When the stepper has finished it's move
-uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy){
+uint32_t Extruder::stepper_motor_finished_move(uint32_t dummy)
+{
if(!this->enabled) return 0;
//printf("extruder releasing\r\n");
- if (this->current_block){ // this should always be true, but sometimes it isn't. TODO: find out why
- Block* block = this->current_block;
+ if (this->current_block) { // this should always be true, but sometimes it isn't. TODO: find out why
+ Block *block = this->current_block;
this->current_block = NULL;
block->release();
}
return 0;
}
-
-void Extruder::enable(){
- this->enabled = true;
-}
-
-void Extruder::disable(){
- this->enabled = false;
-}
-
-float* Extruder::get_offset(){
- return this->offset;
-}
-
HCoop / clinton / Smoothieware.git / blobdiff