#include "arm_solutions/JohannKosselSolution.h"
#include "arm_solutions/HBotSolution.h"
-#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
-#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
-#define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
-#define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
-#define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
-#define arc_correction_checksum CHECKSUM("arc_correction")
-#define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
-#define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
-#define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
+#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
+#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
+#define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
+#define delta_segments_per_second_checksum CHECKSUM("delta_segments_per_second")
+#define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
+#define arc_correction_checksum CHECKSUM("arc_correction")
+#define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
+#define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
+#define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
// arm solutions
-#define arm_solution_checksum CHECKSUM("arm_solution")
-#define cartesian_checksum CHECKSUM("cartesian")
-#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
-#define rostock_checksum CHECKSUM("rostock")
-#define delta_checksum CHECKSUM("delta")
-#define hbot_checksum CHECKSUM("hbot")
-#define corexy_checksum CHECKSUM("corexy")
-#define kossel_checksum CHECKSUM("kossel")
+#define arm_solution_checksum CHECKSUM("arm_solution")
+#define cartesian_checksum CHECKSUM("cartesian")
+#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
+#define rostock_checksum CHECKSUM("rostock")
+#define delta_checksum CHECKSUM("delta")
+#define hbot_checksum CHECKSUM("hbot")
+#define corexy_checksum CHECKSUM("corexy")
+#define kossel_checksum CHECKSUM("kossel")
+
+// stepper motor stuff
+#define alpha_step_pin_checksum CHECKSUM("alpha_step_pin")
+#define beta_step_pin_checksum CHECKSUM("beta_step_pin")
+#define gamma_step_pin_checksum CHECKSUM("gamma_step_pin")
+#define alpha_dir_pin_checksum CHECKSUM("alpha_dir_pin")
+#define beta_dir_pin_checksum CHECKSUM("beta_dir_pin")
+#define gamma_dir_pin_checksum CHECKSUM("gamma_dir_pin")
+#define alpha_en_pin_checksum CHECKSUM("alpha_en_pin")
+#define beta_en_pin_checksum CHECKSUM("beta_en_pin")
+#define gamma_en_pin_checksum CHECKSUM("gamma_en_pin")
+
+#define alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
+#define beta_steps_per_mm_checksum CHECKSUM("beta_steps_per_mm")
+#define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
+
+#define alpha_max_rate_checksum CHECKSUM("alpha_max_rate")
+#define beta_max_rate_checksum CHECKSUM("beta_max_rate")
+#define gamma_max_rate_checksum CHECKSUM("gamma_max_rate")
+
+
+// new-style actuator stuff
+#define actuator_checksum CHEKCSUM("actuator")
+
+#define step_pin_checksum CHECKSUM("step_pin")
+#define dir_pin_checksum CHEKCSUM("dir_pin")
+#define en_pin_checksum CHECKSUM("en_pin")
+
+#define steps_per_mm_checksum CHECKSUM("steps_per_mm")
+#define max_rate_checksum CHECKSUM("max_rate")
+
+#define alpha_checksum CHECKSUM("alpha")
+#define beta_checksum CHECKSUM("beta")
+#define gamma_checksum CHECKSUM("gamma")
+
// 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
// Configuration
this->on_config_reload(this);
-
- // 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) );
-
}
void Robot::on_config_reload(void* argument){
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->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->alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output();
- this->alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output();
- this->alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output();
- this->beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output();
- this->gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output();
- this->gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output();
- this->gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output();
- this->beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output();
- this->beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output();
+ Pin alpha_step_pin;
+ Pin alpha_dir_pin;
+ Pin alpha_en_pin;
+ Pin beta_step_pin;
+ Pin beta_dir_pin;
+ Pin beta_en_pin;
+ Pin gamma_step_pin;
+ Pin gamma_dir_pin;
+ Pin gamma_en_pin;
+
+ alpha_step_pin.from_string( THEKERNEL->config->value(alpha_step_pin_checksum )->by_default("2.0" )->as_string())->as_output();
+ alpha_dir_pin.from_string( THEKERNEL->config->value(alpha_dir_pin_checksum )->by_default("0.5" )->as_string())->as_output();
+ alpha_en_pin.from_string( THEKERNEL->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_string())->as_output();
+ beta_step_pin.from_string( THEKERNEL->config->value(beta_step_pin_checksum )->by_default("2.1" )->as_string())->as_output();
+ beta_dir_pin.from_string( THEKERNEL->config->value(beta_dir_pin_checksum )->by_default("0.11" )->as_string())->as_output();
+ beta_en_pin.from_string( THEKERNEL->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_string())->as_output();
+ gamma_step_pin.from_string( THEKERNEL->config->value(gamma_step_pin_checksum )->by_default("2.2" )->as_string())->as_output();
+ gamma_dir_pin.from_string( THEKERNEL->config->value(gamma_dir_pin_checksum )->by_default("0.20" )->as_string())->as_output();
+ gamma_en_pin.from_string( THEKERNEL->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_string())->as_output();
+
+ float steps_per_mm[3] = {
+ THEKERNEL->config->value(alpha_steps_per_mm_checksum)->by_default( 80.0F)->as_number(),
+ THEKERNEL->config->value(beta_steps_per_mm_checksum )->by_default( 80.0F)->as_number(),
+ THEKERNEL->config->value(gamma_steps_per_mm_checksum)->by_default(2560.0F)->as_number(),
+ };
+
+ // 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) );
+
+ 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;
+
+ actuators.clear();
+ actuators.push_back(alpha_stepper_motor);
+ actuators.push_back(beta_stepper_motor);
+ actuators.push_back(gamma_stepper_motor);
}
void Robot::on_get_public_data(void* argument){
}
}
memcpy(this->current_position, this->last_milestone, sizeof(float)*3); // current_position[] = last_milestone[];
- this->arm_solution->millimeters_to_steps(this->current_position, THEKERNEL->planner->position);
+
+ // TODO: handle any number of actuators
+ float actuator_pos[3];
+ arm_solution->cartesian_to_actuator(current_position, actuator_pos);
+
+ for (int i = 0; i < 3; i++)
+ actuators[i]->change_last_milestone(actuator_pos[i]);
+
gcode->mark_as_taken();
- return; // TODO: Wait until queue empty
+ return;
}
}
}else if( gcode->has_m){
- float steps[3];
switch( gcode->m ){
case 92: // M92 - set steps per mm
- this->arm_solution->get_steps_per_millimeter(steps);
if (gcode->has_letter('X'))
- steps[0] = this->to_millimeters(gcode->get_value('X'));
+ actuators[0]->change_steps_per_mm(this->to_millimeters(gcode->get_value('X')));
if (gcode->has_letter('Y'))
- steps[1] = this->to_millimeters(gcode->get_value('Y'));
+ actuators[1]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Y')));
if (gcode->has_letter('Z'))
- steps[2] = this->to_millimeters(gcode->get_value('Z'));
+ actuators[2]->change_steps_per_mm(this->to_millimeters(gcode->get_value('Z')));
if (gcode->has_letter('F'))
seconds_per_minute = gcode->get_value('F');
- this->arm_solution->set_steps_per_millimeter(steps);
- // update current position in steps
- this->arm_solution->millimeters_to_steps(this->current_position, THEKERNEL->planner->position);
- gcode->stream->printf("X:%g Y:%g Z:%g F:%g ", steps[0], steps[1], steps[2], seconds_per_minute);
+
+ 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();
return;
case 500: // M500 saves some volatile settings to config override file
case 503: // M503 just prints the settings
- this->arm_solution->get_steps_per_millimeter(steps);
- gcode->stream->printf(";Steps per unit:\nM92 X%1.5f Y%1.5f Z%1.5f\n", steps[0], steps[1], steps[2]);
+ 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(";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();
//Get parameters
float target[3], offset[3];
- clear_vector(target); clear_vector(offset);
+ clear_vector(offset);
memcpy(target, this->current_position, 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 = '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']); } }
+ 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']);
+ }
+ }
if( gcode->has_letter('F') )
{
if( this->motion_mode == MOTION_MODE_SEEK )
- this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0;
+ this->seek_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F;
else
- this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0;
+ this->feed_rate = this->to_millimeters( gcode->get_value('F') ) / 60.0F;
}
//Perform any physical actions
// 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->current_position, target, sizeof(float)*3); // this->position[] = target[];
+ memcpy(this->current_position, target, sizeof(this->current_position)); // this->position[] = target[];
}
// Reset the position for all axes ( used in homing and G92 stuff )
void Robot::reset_axis_position(float position, int axis) {
this->last_milestone[axis] = this->current_position[axis] = position;
- this->arm_solution->millimeters_to_steps(this->current_position, THEKERNEL->planner->position);
+ actuators[axis]->change_last_milestone(position);
}
// Convert target from millimeters to steps, and append this to the planner
-void Robot::append_milestone( float target[], float rate ){
- int steps[3]; //Holds the result of the conversion
-
- // We use an arm solution object so exotic arm solutions can be used and neatly abstracted
- this->arm_solution->millimeters_to_steps( target, steps );
-
+void Robot::append_milestone( float target[], float rate )
+{
float deltas[3];
- for(int axis=X_AXIS;axis<=Z_AXIS;axis++){deltas[axis]=target[axis]-this->last_milestone[axis];}
+ float unit_vec[3];
+ float actuator_pos[3];
+ 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];
// Compute how long this move moves, so we can attach it to the block for later use
- float millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( deltas[Z_AXIS], 2 ) );
-
- // Do not move faster than the configured limits
- for(int axis=X_AXIS;axis<=Z_AXIS;axis++){
- if( this->max_speeds[axis] > 0 ){
- float axis_speed = ( fabs(deltas[axis]) / ( millimeters_of_travel / rate )) * seconds_per_minute;
- if( axis_speed > this->max_speeds[axis] ){
- rate = rate * ( this->max_speeds[axis] / axis_speed );
- }
+ millimeters_of_travel = sqrtf( pow( deltas[X_AXIS], 2 ) + pow( deltas[Y_AXIS], 2 ) + pow( 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 )
+ {
+ float axis_speed = fabs(unit_vec[axis] * rate) * seconds_per_minute;
+
+ if (axis_speed > max_speeds[axis])
+ rate = rate * ( max_speeds[axis] / axis_speed );
}
}
+ // find actuator position given cartesian position
+ arm_solution->cartesian_to_actuator( target, actuator_pos );
+
+ // 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;
+
+ if (actuator_rate > actuators[actuator]->max_rate)
+ rate *= (actuators[actuator]->max_rate / actuator_rate);
+ }
+
// Append the block to the planner
- THEKERNEL->planner->append_block( steps, rate * seconds_per_minute, millimeters_of_travel, deltas );
+ THEKERNEL->planner->append_block( actuator_pos, rate * seconds_per_minute, 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(float)*3); // this->last_milestone[] = target[];
+ memcpy(this->last_milestone, target, sizeof(this->last_milestone)); // this->last_milestone[] = target[];
}
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 ) );
// We ignore non-moves ( for example, extruder moves are not XYZ moves )
- if( gcode->millimeters_of_travel < 0.0001 ){
- // an extruder only move means we stopped so we need to tell planner that previous speed and unitvector are zero
- clear_vector_float(THEKERNEL->planner->previous_unit_vec);
+ if( gcode->millimeters_of_travel < 0.0001F ){
return;
}
// 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 > 1.0) {
+ if(this->delta_segments_per_second > 1.0F) {
// enabled if set to something > 1, it is set to 0.0 by default
// segment based on current speed and requested segments per second
// the faster the travel speed the fewer segments needed
// 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 == 0.0){
+ 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);
// A vector to keep track of the endpoint of each segment
float temp_target[3];
//Initialize axes
- memcpy( temp_target, this->current_position, sizeof(float)*3); // temp_target[] = this->current_position[];
+ memcpy( temp_target, this->current_position, sizeof(temp_target)); // temp_target[] = this->current_position[];
//For each segment
for( int i=0; i<segments-1; i++ ){
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 < 0.0001 ){ return; }
+ if( gcode->millimeters_of_travel < 0.0001F ){ return; }
// Mark the gcode as having a known distance
this->distance_in_gcode_is_known( gcode );
This is important when there are successive arc motions.
*/
// Vector rotation matrix values
- float cos_T = 1-0.5*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];
HCoop / clinton / Smoothieware.git / blobdiff