Robot.h

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
00004       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 #ifndef ROBOT_H
00009 #define ROBOT_H
00010 
00011 #include <string>
00012 using std::string;
00013 #include "libs/Module.h"
00014 #include "RobotPublicAccess.h"
00015 
00016 #define NEXT_ACTION_DEFAULT 0
00017 #define NEXT_ACTION_DWELL 1
00018 #define NEXT_ACTION_GO_HOME 2
00019 
00020 #define MOTION_MODE_SEEK 0 // G0
00021 #define MOTION_MODE_LINEAR 1 // G1
00022 #define MOTION_MODE_CW_ARC 2 // G2
00023 #define MOTION_MODE_CCW_ARC 3 // G3
00024 #define MOTION_MODE_CANCEL 4 // G80
00025 
00026 #define PATH_CONTROL_MODE_EXACT_PATH 0
00027 #define PATH_CONTROL_MODE_EXACT_STOP 1
00028 #define PATH_CONTROL_MODE_CONTINOUS 2
00029 
00030 #define PROGRAM_FLOW_RUNNING 0
00031 #define PROGRAM_FLOW_PAUSED 1
00032 #define PROGRAM_FLOW_COMPLETED 2
00033 
00034 #define SPINDLE_DIRECTION_CW 0
00035 #define SPINDLE_DIRECTION_CCW 1
00036 
00037 class Gcode;
00038 class BaseSolution;
00039 class StepperMotor;
00040 
00041 class Robot : public Module {
00042     public:
00043         Robot();
00044         void on_module_loaded();
00045         void on_config_reload(void* argument);
00046         void on_gcode_received(void* argument);
00047         void on_get_public_data(void* argument);
00048         void on_set_public_data(void* argument);
00049 
00050         void reset_axis_position(float position, int axis);
00051         void get_axis_position(float position[]);
00052         float to_millimeters(float value);
00053         float from_millimeters(float value);
00054 
00055         BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
00056         bool absolute_mode;                                   // true for absolute mode ( default ), false for relative mode
00057 
00058     private:
00059         void distance_in_gcode_is_known(Gcode* gcode);
00060         void append_milestone( float target[], float rate_mm_s);
00061         void append_line( Gcode* gcode, float target[], float rate_mm_s);
00062         //void append_arc(float theta_start, float angular_travel, float radius, float depth, float rate);
00063         void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise );
00064 
00065 
00066         void compute_arc(Gcode* gcode, float offset[], float target[]);
00067 
00068         float theta(float x, float y);
00069         void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
00070 
00071         float last_milestone[3];                             // Last position, in millimeters
00072         bool  inch_mode;                                       // true for inch mode, false for millimeter mode ( default )
00073         int8_t motion_mode;                                   // Motion mode for the current received Gcode
00074         float seek_rate;                                     // Current rate for seeking moves ( mm/s )
00075         float feed_rate;                                     // Current rate for feeding moves ( mm/s )
00076         uint8_t plane_axis_0, plane_axis_1, plane_axis_2;     // Current plane ( XY, XZ, YZ )
00077         float mm_per_line_segment;                           // Setting : Used to split lines into segments
00078         float mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
00079         float delta_segments_per_second;                     // Setting : Used to split lines into segments for delta based on speed
00080 
00081         // Number of arc generation iterations by small angle approximation before exact arc trajectory
00082         // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
00083         // generations. In general, the default value is more than enough for the intended CNC applications
00084         // of grbl, and should be on the order or greater than the size of the buffer to help with the
00085         // computational efficiency of generating arcs.
00086         int arc_correction;                                   // Setting : how often to rectify arc computation
00087         float max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
00088 
00089     // Used by Stepper
00090     public:
00091         StepperMotor* alpha_stepper_motor;
00092         StepperMotor* beta_stepper_motor;
00093         StepperMotor* gamma_stepper_motor;
00094 
00095         std::vector<StepperMotor*> actuators;
00096 
00097         float seconds_per_minute;                            // for realtime speed change
00098 };
00099 
00100 // Convert from inches to millimeters ( our internal storage unit ) if needed
00101 inline float Robot::to_millimeters( float value ){
00102     return this->inch_mode ? value * 25.4 : value;
00103 }
00104 inline float Robot::from_millimeters( float value){
00105     return this->inch_mode ? value/25.4 : value;
00106 }
00107 inline void Robot::get_axis_position(float position[]){
00108     memcpy(position, this->last_milestone, sizeof(float)*3 );
00109 }
00110 
00111 #endif