Esempio n. 1
0
// Add a new linear movement to the buffer. x, y and z is 
// the signed, absolute target position in millimeters. Feed rate specifies the speed of the motion.
static void planner_movement(double x, double y, double z,
					  double feed_rate, double acceleration,
					  uint8_t nominal_laser_intensity, uint16_t ppi,
					  raster_t *raster) {
  // calculate target position in absolute steps
  int32_t target[3];

  // Make sure we stay within our limits
#if defined(CONFIG_X_MIN)
  x=max(x, CONFIG_X_MIN);
#endif
#if defined(CONFIG_X_MAX)
  x=min(x, CONFIG_X_MAX);
#endif
#if defined(CONFIG_Y_MIN)
  y=max(y, CONFIG_Y_MIN);
#endif
#if defined(CONFIG_Y_MAX)
  y=min(y, CONFIG_Y_MAX);
#endif
#if defined(CONFIG_Z_MIN)
  z=max(z, CONFIG_Z_MIN);
#endif
#if defined(CONFIG_Z_MAX)
  z=min(z, CONFIG_Z_MAX);
#endif

  target[X_AXIS] = lround(x*CONFIG_X_STEPS_PER_MM);
  target[Y_AXIS] = lround(y*CONFIG_Y_STEPS_PER_MM);
  target[Z_AXIS] = lround(z*CONFIG_Z_STEPS_PER_MM); 

  // calculate the buffer head and check for space
  int next_buffer_head = next_block_index( block_buffer_head );	
  while(block_buffer_tail == next_buffer_head) {  // buffer full condition
    // good! We are well ahead of the robot. Rest here until buffer has room.
    // sleep_mode();
  }
  
  block_buffers_used++;

  // handle position update after a stop
  if (position_update_requested) {
    planner_set_position(stepper_get_position_x(), stepper_get_position_y(), stepper_get_position_z());
    position_update_requested = false;
    //printString("planner pos update\n");  // debug
  }
  
  // prepare to set up new block
  block_t *block = &block_buffer[block_buffer_head];
  
  // Setup the block type
  if (raster == NULL) {
	  block->block_type = BLOCK_TYPE_LINE;
  } else {
	  block->block_type = BLOCK_TYPE_RASTER_LINE;
	  memcpy(&block->raster, raster, sizeof(raster_t));
  }

  // set nominal laser intensity
  block->laser_pwm = nominal_laser_intensity;

  // compute direction bits for this block
  block->direction_bits = 0;
  if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<STEP_X_DIR); }
  if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<STEP_Y_DIR); }
#ifndef MOTOR_Z
  if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<STEP_Z_DIR); }
#else
  if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= STEP_Z_MASK; }
#endif
  
  // number of steps for each axis
  block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  block->step_event_count = max(block->steps_x, max(block->steps_y, block->steps_z));
  if (block->step_event_count == 0) { return; };  // bail if this is a zero-length block
  
  // compute path vector in terms of absolute step target and current positions
  double delta_mm[3];
  delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/CONFIG_X_STEPS_PER_MM;
  delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/CONFIG_Y_STEPS_PER_MM;
  delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/CONFIG_Z_STEPS_PER_MM;
  block->millimeters = sqrt( (delta_mm[X_AXIS]*delta_mm[X_AXIS]) + 
                             (delta_mm[Y_AXIS]*delta_mm[Y_AXIS]) + 
                             (delta_mm[Z_AXIS]*delta_mm[Z_AXIS]) );
  double inverse_millimeters = 1.0/block->millimeters;  // store for efficency	
  
  // calculate nominal_speed (mm/min) and nominal_rate (step/min)
  // minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c
  double inverse_minute = feed_rate * inverse_millimeters;
  block->nominal_speed = block->millimeters * inverse_minute; // always > 0
  block->nominal_rate = ceil(block->step_event_count * inverse_minute); // always > 0

  block->acceleration = acceleration;
  // compute the acceleration rate for this block. (step/min/acceleration_tick)
  block->rate_delta = ceil( block->step_event_count * inverse_millimeters 
                            * block->acceleration / (60 * ACCELERATION_TICKS_PER_SECOND) );

  // Calculate the ppi steps
  block->laser_ppi_steps = 0;
  if (ppi > 0) {
	  block->laser_ppi = ppi; // Only used by LCD output.
	  block->laser_ppi_steps = CONFIG_X_STEPS_PER_MM * MM_PER_INCH / ppi;
  }

  //// acceleeration manager calculations
  // Compute path unit vector                            
  double unit_vec[3];
  unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;  

  // Compute max junction speed by centripetal acceleration approximation.
  // Let a circle be tangent to both previous and current path line segments, where the junction 
  // deviation is defined as the distance from the junction to the closest edge of the circle, 
  // colinear with the circle center. The circular segment joining the two paths represents the 
  // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  // radius of the circle, defined indirectly by junction deviation. This may be also viewed as 
  // path width or max_jerk in the previous grbl version. This approach does not actually deviate 
  // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  // nonlinearities of both the junction angle and junction velocity.
  double vmax_junction = ZERO_SPEED; // prime for junctions close to 0 degree
  if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
    // Compute cosine of angle between previous and current path.
    // vmax_junction is computed without sin() or acos() by trig half angle identity.
    double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] 
                       - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] 
                       - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
    if (cos_theta < 0.95) {
      // any junction *not* close to 0 degree
      vmax_junction = min(previous_nominal_speed, block->nominal_speed);  // prime for close to 180
      if (cos_theta > -0.95) {
        // any junction not close to neither 0 and 180 degree -> compute vmax
        double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
        vmax_junction = min( vmax_junction, sqrt( block->acceleration * CONFIG_JUNCTION_DEVIATION
                                                  * sin_theta_d2/(1.0-sin_theta_d2) ) );
      }
    }
  }
  block->vmax_junction = vmax_junction;
  
  // Initialize entry_speed. Compute based on deceleration to zero.
  // This will be updated in the forward and reverse planner passes.
  double v_allowable = max_allowable_speed(-block->acceleration, ZERO_SPEED, block->millimeters);
  block->entry_speed = min(vmax_junction, v_allowable);

  // Set nominal_length_flag for more efficiency.
  // If a block can de/ac-celerate from nominal speed to zero within the length of 
  // the block, then the speed will always be at the the maximum junction speed and 
  // may always be ignored for any speed reduction checks.
  if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
  else { block->nominal_length_flag = false; }
  block->recalculate_flag = true; // always calculate trapezoid for new block

  // update previous unit_vector and nominal speed
  memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[]
  previous_nominal_speed = block->nominal_speed;
  //// end of acceleeration manager calculations


  // move buffer head and update position
  block_buffer_head = next_buffer_head;     
  memcpy(position, target, sizeof(target)); // position[] = target[]

  planner_recalculate();

  // make sure the stepper interrupt is processing
  stepper_wake_up();
}
Esempio n. 2
0
void gcode_process_line() {
  int status_code;
    
	protocol_process();
 //// process line
  if (strlen(rx_line) > 0) {          // Line is complete. Then execute!
    // handle position update after a stop
    if (position_update_requested) {
      gc.position[X_AXIS] = stepper_get_position_x();
      gc.position[Y_AXIS] = stepper_get_position_y();
      gc.position[Z_AXIS] = stepper_get_position_z();
      position_update_requested = false;
      //printString("gcode pos update\n");  // debug
    }
    
    if (stepper_stop_requested()) {
      status_code = stepper_stop_status();
    } else if (rx_line[0] == '$') {
      printPgmString(PSTR("\nLasaurGrbl " LASAURGRBL_VERSION));
      printPgmString(PSTR("\nSee config.h for configuration.\n"));
      status_code = STATUS_OK;
    } else if (rx_line[0] == '?') {
      printString("X");
      printFloat(stepper_get_position_x());
      printString(" Y");
      printFloat(stepper_get_position_y());
      printString("\n");
      status_code = STATUS_OK;
    } else {
      // process gcode
      status_code = gcode_execute_line(rx_line);
    }    
  } else { 
    // empty or comment line, send ok for consistency
    status_code = STATUS_OK;
  }
  
  //// return status
  if (status_code == STATUS_OK) {
    printPgmString(PSTR("ok\n"));
  } else {
    switch(status_code) {      
      case STATUS_BAD_NUMBER_FORMAT:
        printPgmString(PSTR("Error: Bad number format\n")); break;
      case STATUS_EXPECTED_COMMAND_LETTER:
        printPgmString(PSTR("Error: Expected command letter\n")); break;
      case STATUS_UNSUPPORTED_STATEMENT:
        printPgmString(PSTR("Error: Unsupported statement\n")); break;
      case STATUS_FLOATING_POINT_ERROR:
        printPgmString(PSTR("Error: Floating point error\n")); break;
      case STATUS_STOP_POWER_OFF:
        printPgmString(PSTR("Error: Power Off\n")); break;
      case STATUS_STOP_CHILLER_OFF:
        printPgmString(PSTR("Error: Chiller Off\n")); break;
      case STATUS_STOP_LIMIT_HIT:
        printPgmString(PSTR("Error: Limit Hit\n")); break;                    
      default:
        printPgmString(PSTR("Error: "));
        printInteger(status_code);
        printPgmString(PSTR("\n"));        
    }
  }   
}