#include "StreamOutputPool.h"
#include "Gcode.h"
#include "Conveyor.h"
-#include "Stepper.h"
#include "checksumm.h"
#include "ConfigValue.h"
#include "SlowTicker.h"
// strategies we know about
#include "DeltaCalibrationStrategy.h"
#include "ThreePointStrategy.h"
-#include "ZGridStrategy.h"
+//#include "ZGridStrategy.h"
#include "DeltaGridStrategy.h"
#define enable_checksum CHECKSUM("enable")
#define probe_pin_checksum CHECKSUM("probe_pin")
-#define debounce_count_checksum CHECKSUM("debounce_count")
+#define debounce_ms_checksum CHECKSUM("debounce_ms")
#define slow_feedrate_checksum CHECKSUM("slow_feedrate")
#define fast_feedrate_checksum CHECKSUM("fast_feedrate")
#define return_feedrate_checksum CHECKSUM("return_feedrate")
#define Y_AXIS 1
#define Z_AXIS 2
-#define STEPPER THEKERNEL->robot->actuators
+#define STEPPER THEROBOT->actuators
#define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm())
#define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS)
}
// load settings
- this->on_config_reload(this);
+ this->config_load();
// register event-handlers
register_for_event(ON_GCODE_RECEIVED);
- THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); });
-
// we read the probe in this timer, currently only for G38 probes.
probing= false;
THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe);
}
-void ZProbe::on_config_reload(void *argument)
+void ZProbe::config_load()
{
this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input();
- this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number();
+ this->debounce_ms = THEKERNEL->config->value(zprobe_checksum, debounce_ms_checksum)->by_default(0 )->as_number();
// get strategies to load
vector<uint16_t> modules;
found= true;
break;
- case ZGrid_leveling_checksum:
- this->strategies.push_back(new ZGridStrategy(this));
- found= true;
- break;
+ // case ZGrid_leveling_checksum:
+ // this->strategies.push_back(new ZGridStrategy(this));
+ // found= true;
+ // break;
case delta_grid_leveling_strategy_checksum:
this->strategies.push_back(new DeltaGridStrategy(this));
this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance
}
-bool ZProbe::wait_for_probe(int& steps)
+uint32_t ZProbe::read_probe(uint32_t dummy)
{
- unsigned int debounce = 0;
- while(true) {
- THEKERNEL->call_event(ON_IDLE);
- if(THEKERNEL->is_halted()){
- // aborted by kill
- return false;
- }
-
- bool delta= is_delta || is_rdelta;
-
- // if no stepper is moving, moves are finished and there was no touch
- if( !STEPPER[Z_AXIS]->is_moving() && (!delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) {
- return false;
- }
+ if(!probing || probe_detected) return 0;
- // if the probe is active...
- if( this->pin.get() ) {
- //...increase debounce counter...
- if( debounce < debounce_count) {
- // ...but only if the counter hasn't reached the max. value
+ if(STEPPER[Z_AXIS]->is_moving()) {
+ // if it is moving then we check the probe, and debounce it
+ if(this->pin.get()) {
+ if(debounce < debounce_ms) {
debounce++;
} else {
- // ...otherwise stop the steppers, return its remaining steps
- if(STEPPER[Z_AXIS]->is_moving()){
- steps= STEPPER[Z_AXIS]->get_stepped();
- STEPPER[Z_AXIS]->move(0, 0);
- }
- if(delta) {
- for( int i = X_AXIS; i <= Y_AXIS; i++ ) {
- if ( STEPPER[i]->is_moving() ) {
- STEPPER[i]->move(0, 0);
- }
- }
- }
- return true;
+ // we signal the motors to stop, which will preempt any moves on that axis
+ // we do all motors as it may be a delta
+ for(auto &a : THEROBOT->actuators) a->stop_moving();
+ probe_detected= true;
+ debounce= 0;
}
+
} else {
- // The probe was not hit yet, reset debounce counter
- debounce = 0;
+ // The endstop was not hit yet
+ debounce= 0;
}
}
+
+ return 0;
}
-// single probe with custom feedrate
+// single probe in Z with custom feedrate
// returns boolean value indicating if probe was triggered
-bool ZProbe::run_probe(int& steps, float feedrate, float max_dist, bool reverse)
+bool ZProbe::run_probe(float& mm, float feedrate, float max_dist, bool reverse)
{
- // not a block move so disable the last tick setting
- for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
- STEPPER[c]->set_moved_last_block(false);
- }
-
- // Enable the motors
- THEKERNEL->stepper->turn_enable_pins_on();
- this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec
float maxz= max_dist < 0 ? this->max_z*2 : max_dist;
+ probing= true;
+ probe_detected= false;
+ debounce= 0;
+
+ // save current actuator position so we can report how far we moved
+ ActuatorCoordinates start_pos{
+ THEROBOT->actuators[X_AXIS]->get_current_position(),
+ THEROBOT->actuators[Y_AXIS]->get_current_position(),
+ THEROBOT->actuators[Z_AXIS]->get_current_position()
+ };
+
// move Z down
+ THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled
bool dir= (!reverse_z != reverse); // xor
- STEPPER[Z_AXIS]->move(dir, maxz * Z_STEPS_PER_MM, 0); // probe in specified direction, no more than maxz
- if(this->is_delta || this->is_rdelta) {
- // for delta need to move all three actuators
- STEPPER[X_AXIS]->move(dir, maxz * STEPS_PER_MM(X_AXIS), 0);
- STEPPER[Y_AXIS]->move(dir, maxz * STEPS_PER_MM(Y_AXIS), 0);
- }
+ float delta[3]= {0,0,0};
+ delta[Z_AXIS]= dir ? -maxz : maxz;
+ THEROBOT->delta_move(delta, feedrate, 3);
+
+ // wait until finished
+ THECONVEYOR->wait_for_empty_queue();
+ THEROBOT->disable_segmentation= false;
+
+ // now see how far we moved, get delta in z we moved
+ // NOTE this works for deltas as well as all three actuators move the same amount in Z
+ mm= start_pos[2] - THEROBOT->actuators[2]->get_current_position();
+
+ // set the last probe position to the actuator units moved during this home
+ THEROBOT->set_last_probe_position(
+ std::make_tuple(
+ start_pos[0] - THEROBOT->actuators[0]->get_current_position(),
+ start_pos[1] - THEROBOT->actuators[1]->get_current_position(),
+ mm,
+ probe_detected?1:0));
- // start acceleration processing
- this->running = true;
+ probing= false;
+
+ if(probe_detected) {
+ // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
+ THEROBOT->reset_position_from_current_actuator_position();
+ }
- bool r = wait_for_probe(steps);
- this->running = false;
- STEPPER[X_AXIS]->move(0, 0);
- STEPPER[Y_AXIS]->move(0, 0);
- STEPPER[Z_AXIS]->move(0, 0);
- return r;
+ return probe_detected;
}
-bool ZProbe::return_probe(int steps, bool reverse)
+bool ZProbe::return_probe(float mm, bool reverse)
{
// move probe back to where it was
-
float fr;
if(this->return_feedrate != 0) { // use return_feedrate if set
fr = this->return_feedrate;
if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate
}
- this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec
- bool dir= ((steps < 0) != reverse_z); // xor
-
+ bool dir= ((mm < 0) != reverse_z); // xor
if(reverse) dir= !dir;
- steps= abs(steps);
- bool delta= (this->is_delta || this->is_rdelta);
- STEPPER[Z_AXIS]->move(dir, steps, 0);
- if(delta) {
- STEPPER[X_AXIS]->move(dir, steps, 0);
- STEPPER[Y_AXIS]->move(dir, steps, 0);
- }
+ float delta[3]= {0,0,0};
+ delta[Z_AXIS]= dir ? -mm : mm;
+ THEROBOT->delta_move(delta, fr, 3);
- this->running = true;
- while(STEPPER[Z_AXIS]->is_moving() || (delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) {
- // wait for it to complete
- THEKERNEL->call_event(ON_IDLE);
- if(THEKERNEL->is_halted()){
- // aborted by kill
- break;
- }
- }
-
- this->running = false;
- STEPPER[X_AXIS]->move(0, 0);
- STEPPER[Y_AXIS]->move(0, 0);
- STEPPER[Z_AXIS]->move(0, 0);
+ // wait until finished
+ THECONVEYOR->wait_for_empty_queue();
return true;
}
-bool ZProbe::doProbeAt(int &steps, float x, float y)
+bool ZProbe::doProbeAt(float &mm, float x, float y)
{
- int s;
+ float s;
// move to xy
coordinated_move(x, y, NAN, getFastFeedrate());
if(!run_probe(s)) return false;
// return to original Z
return_probe(s);
- steps = s;
+ mm = s;
return true;
}
float ZProbe::probeDistance(float x, float y)
{
- int s;
+ float s;
if(!doProbeAt(s, x, y)) return NAN;
- return zsteps_to_mm(s);
+ return s;
}
void ZProbe::on_gcode_received(void *argument)
// first wait for an empty queue i.e. no moves left
THEKERNEL->conveyor->wait_for_empty_queue();
- int steps;
bool probe_result;
bool reverse= (gcode->has_letter('R') && gcode->get_value('R') != 0); // specify to probe in reverse direction
float rate= gcode->has_letter('F') ? gcode->get_value('F') / 60 : this->slow_feedrate;
- probe_result = run_probe(steps, rate, -1, reverse);
+ float mm;
+ probe_result = run_probe(mm, rate, -1, reverse);
if(probe_result) {
// the result is in actuator coordinates and raw steps
- gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps);
+ gcode->stream->printf("Z:%1.4f\n", mm);
// set the last probe position to the current actuator units
- THEKERNEL->robot->set_last_probe_position(std::make_tuple(
- THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ THEROBOT->set_last_probe_position(std::make_tuple(
+ THEROBOT->actuators[X_AXIS]->get_current_position(),
+ THEROBOT->actuators[Y_AXIS]->get_current_position(),
+ THEROBOT->actuators[Z_AXIS]->get_current_position(),
1));
- // move back to where it started, unless a Z is specified
+ // move back to where it started, unless a Z is specified (and not a rotary delta)
if(gcode->has_letter('Z') && !is_rdelta) {
// set Z to the specified value, and leave probe where it is
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+ THEROBOT->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
} else {
// return to pre probe position
- return_probe(steps, reverse);
+ return_probe(mm, reverse);
}
} else {
gcode->stream->printf("ZProbe not triggered\n");
- THEKERNEL->robot->set_last_probe_position(std::make_tuple(
- THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Z_AXIS]->get_current_position(),
+ THEROBOT->set_last_probe_position(std::make_tuple(
+ THEROBOT->actuators[X_AXIS]->get_current_position(),
+ THEROBOT->actuators[Y_AXIS]->get_current_position(),
+ THEROBOT->actuators[Z_AXIS]->get_current_position(),
0));
}
THEKERNEL->conveyor->wait_for_empty_queue();
// turn off any compensation transform
- auto savect= THEKERNEL->robot->compensationTransform;
- THEKERNEL->robot->compensationTransform= nullptr;
+ auto savect= THEROBOT->compensationTransform;
+ THEROBOT->compensationTransform= nullptr;
if(gcode->has_letter('X')) {
// probe in the X axis
}
// restore compensationTransform
- THEKERNEL->robot->compensationTransform= savect;
+ THEROBOT->compensationTransform= savect;
return;
if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R');
if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z');
if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H');
+ if (gcode->has_letter('I')) { // NOTE this is temporary and toggles the invertion status of the pin
+ invert_override= (gcode->get_value('I') != 0);
+ pin.set_inverting(pin.is_inverting() != invert_override); // XOR so inverted pin is not inverted and vice versa
+ }
break;
case 500: // save settings
}
}
-uint32_t ZProbe::read_probe(uint32_t dummy)
-{
- if(!probing || probe_detected) return 0;
-
- // TODO add debounce/noise filter
- if(this->pin.get()) {
- probe_detected= true;
- // now tell all the stepper_motors to stop
- for(auto &a : THEKERNEL->robot->actuators) a->force_finish_move();
- }
- return 0;
-}
-
// special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics
void ZProbe::probe_XYZ(Gcode *gcode, int axis)
{
// enable the probe checking in the timer
probing= true;
probe_detected= false;
- THEKERNEL->robot->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
+ THEROBOT->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y)
// get probe feedrate if specified
float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate;
// disable probe checking
probing= false;
- THEKERNEL->robot->disable_segmentation= false;
+ THEROBOT->disable_segmentation= false;
float pos[3];
{
// get the current position
ActuatorCoordinates current_position{
- THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
+ THEROBOT->actuators[X_AXIS]->get_current_position(),
+ THEROBOT->actuators[Y_AXIS]->get_current_position(),
+ THEROBOT->actuators[Z_AXIS]->get_current_position()
};
// get machine position from the actuator position using FK
- THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, pos);
+ THEROBOT->arm_solution->actuator_to_cartesian(current_position, pos);
}
uint8_t probeok= this->probe_detected ? 1 : 0;
// print results using the GRBL format
gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok);
- THEKERNEL->robot->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
+ THEROBOT->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok));
if(!probeok && gcode->subcode == 2) {
// issue error if probe was not triggered and subcode == 2
}else if(probeok){
// if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought
- THEKERNEL->robot->reset_position_from_current_actuator_position();
+ THEROBOT->reset_position_from_current_actuator_position();
}
}
-// Called periodically to change the speed to match acceleration
-void ZProbe::acceleration_tick(void)
-{
- if(!this->running) return; // nothing to do
- if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS);
-
- if(is_delta || is_rdelta) {
- // deltas needs to move all actuators
- for ( int c = X_AXIS; c <= Y_AXIS; c++ ) {
- if( !STEPPER[c]->is_moving() ) continue;
- accelerate(c);
- }
- }
-
- return;
-}
-
-void ZProbe::accelerate(int c)
-{ uint32_t current_rate = STEPPER[c]->get_steps_per_second();
- uint32_t target_rate = floorf(this->current_feedrate);
-
- // Z may have a different acceleration to X and Y
- float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration();
- if( current_rate < target_rate ) {
- uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c));
- current_rate = min( target_rate, current_rate + rate_increase );
- }
- if( current_rate > target_rate ) {
- current_rate = target_rate;
- }
-
- // steps per second
- STEPPER[c]->set_speed(current_rate);
-}
-
// issue a coordinated move directly to robot, and return when done
// Only move the coordinates that are passed in as not nan
-// NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts
+// NOTE must use G53 to force move in machine coordinates and ignore any WCS offsets
void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative)
{
char buf[32];
Gcode gc("G28", &(StreamOutput::NullStream));
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc);
}
-
-float ZProbe::zsteps_to_mm(float steps)
-{
- return steps / Z_STEPS_PER_MM;
-}
HCoop / clinton / Smoothieware.git / blobdiff