Erik van der Zalm
13 years ago
parent
2e8e8878e5
commit
0b82465168
@ -1,245 +1,248 @@
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#ifndef CONFIGURATION_H
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#define CONFIGURATION_H
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//#define DEBUG_STEPS
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// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
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//// The following define selects which electronics board you have. Please choose the one that matches your setup
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// MEGA/RAMPS up to 1.2 = 3,
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// RAMPS 1.3 = 33
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// Gen6 = 5,
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// Sanguinololu 1.2 and above = 62
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// Ultimaker = 7,
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#define MOTHERBOARD 7
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//#define MOTHERBOARD 5
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//// Thermistor settings:
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// 1 is 100k thermistor
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// 2 is 200k thermistor
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// 3 is mendel-parts thermistor
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// 4 is 10k thermistor
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// 5 is ParCan supplied 104GT-2 100K
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// 6 is EPCOS 100k
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// 7 is 100k Honeywell thermistor 135-104LAG-J01
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#define THERMISTORHEATER_1 3
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#define THERMISTORHEATER_2 3
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#define THERMISTORBED 3
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//#define HEATER_0_USES_THERMISTOR
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//#define HEATER_1_USES_THERMISTOR
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#define HEATER_0_USES_AD595
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//#define HEATER_1_USES_AD595
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// Select one of these only to define how the bed temp is read.
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//#define BED_USES_THERMISTOR
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//#define BED_USES_AD595
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#define HEATER_CHECK_INTERVAL 50
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#define BED_CHECK_INTERVAL 5000
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//// Endstop Settings
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
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const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
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// This determines the communication speed of the printer
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#define BAUDRATE 250000
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//#define BAUDRATE 115200
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//#define BAUDRATE 230400
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// Comment out (using // at the start of the line) to disable SD support:
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// #define ULTRA_LCD //any lcd
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#define ULTIPANEL
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#define ULTIPANEL
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#ifdef ULTIPANEL
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//#define NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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#define ULTRA_LCD
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#define LCD_WIDTH 20
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#define LCD_HEIGHT 4
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#else //no panel but just lcd
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#ifdef ULTRA_LCD
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#define LCD_WIDTH 16
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#define LCD_HEIGHT 2
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#endif
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#endif
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//#define SDSUPPORT // Enable SD Card Support in Hardware Console
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const int dropsegments=5; //everything with this number of steps will be ignored as move
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//// ADVANCED SETTINGS - to tweak parameters
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#include "thermistortables.h"
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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#define Y_ENABLE_ON 0
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#define Z_ENABLE_ON 0
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#define E_ENABLE_ON 0
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// Disables axis when it's not being used.
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#define DISABLE_X false
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#define DISABLE_Y false
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#define DISABLE_Z false
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#define DISABLE_E false
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// Inverting axis direction
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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//// ENDSTOP SETTINGS:
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// Sets direction of endstops when homing; 1=MAX, -1=MIN
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#define X_HOME_DIR -1
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#define Y_HOME_DIR -1
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#define Z_HOME_DIR -1
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#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
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#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
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#define X_MAX_LENGTH 210
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#define Y_MAX_LENGTH 210
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#define Z_MAX_LENGTH 210
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//// MOVEMENT SETTINGS
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#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
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//note: on bernhards ultimaker 200 200 12 are working well.
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#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
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//the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed.
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//!!!!!!Use only if you know that your printer works at the maximum declared speeds.
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// works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze
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#define TRAVELING_AT_MAXSPEED
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#define AXIS_RELATIVE_MODES {false, false, false, false}
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#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
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// default settings
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#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
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#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
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#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
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#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 10
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000
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#define DEFAULT_XYJERK 30.0*60
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#define DEFAULT_ZJERK 10.0*60
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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//this enables the watchdog interrupt.
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#define USE_WATCHDOG
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//you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
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#define RESET_MANUAL
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#define WATCHDOG_TIMEOUT 4
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//// Experimental watchdog and minimal temp
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
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//#define WATCHPERIOD 5000 //5 seconds
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// Actual temperature must be close to target for this long before M109 returns success
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//#define TEMP_RESIDENCY_TIME 20 // (seconds)
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//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
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//// The minimal temperature defines the temperature below which the heater will not be enabled
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#define HEATER_0_MINTEMP 5
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//#define HEATER_1_MINTEMP 5
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//#define BED_MINTEMP 5
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// When temperature exceeds max temp, your heater will be switched off.
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// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
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// You should use MINTEMP for thermistor short/failure protection.
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#define HEATER_0_MAXTEMP 275
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//#define_HEATER_1_MAXTEMP 275
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//#define BED_MAXTEMP 150
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#define PIDTEMP
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#ifdef PIDTEMP
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/// PID settings:
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// Uncomment the following line to enable PID support.
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//#define SMOOTHING
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//#define SMOOTHFACTOR 5.0
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//float current_raw_average=0;
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#define K1 0.95 //smoothing of the PID
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
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#define PID_MAX 255 // limits current to nozzle
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#define PID_INTEGRAL_DRIVE_MAX 255
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#define PID_dT 0.1
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//machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47
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#define PID_CRITIAL_GAIN 3000
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#define PID_SWING_AT_CRITIAL 45 //seconds
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#define PIDIADD 5
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/*
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//PID according to Ziegler-Nichols method
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float Kp = 0.6*PID_CRITIAL_GAIN;
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float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;
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float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;
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*/
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//PI according to Ziegler-Nichols method
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#define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2)
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#define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
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#define DEFAULT_Kd (0)
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#define PID_ADD_EXTRUSION_RATE
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#ifdef PID_ADD_EXTRUSION_RATE
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#define DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
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#endif
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#endif // PIDTEMP
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// extruder advance constant (s2/mm3)
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//
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// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
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//
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// hooke's law says: force = k * distance
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// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
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// so: v ^ 2 is proportional to number of steps we advance the extruder
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//#define ADVANCE
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#ifdef ADVANCE
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#define EXTRUDER_ADVANCE_K .3
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#define D_FILAMENT 1.7
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#define STEPS_MM_E 65
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#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
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#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
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#endif // ADVANCE
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// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32
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#if defined SDSUPPORT
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// The number of linear motions that can be in the plan at any give time.
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#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
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#else
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#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
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#endif
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#endif
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#ifndef CONFIGURATION_H
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#define CONFIGURATION_H
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//#define DEBUG_STEPS
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
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//// The following define selects which electronics board you have. Please choose the one that matches your setup
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// MEGA/RAMPS up to 1.2 = 3,
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// RAMPS 1.3 = 33
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// Gen6 = 5,
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// Sanguinololu 1.2 and above = 62
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// Ultimaker = 7,
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#define MOTHERBOARD 7
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//#define MOTHERBOARD 5
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//// Thermistor settings:
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// 1 is 100k thermistor
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// 2 is 200k thermistor
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// 3 is mendel-parts thermistor
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// 4 is 10k thermistor
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// 5 is ParCan supplied 104GT-2 100K
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// 6 is EPCOS 100k
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// 7 is 100k Honeywell thermistor 135-104LAG-J01
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#define THERMISTORHEATER_1 3
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#define THERMISTORHEATER_2 3
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#define THERMISTORBED 3
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//#define HEATER_0_USES_THERMISTOR
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//#define HEATER_1_USES_THERMISTOR
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#define HEATER_0_USES_AD595
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//#define HEATER_1_USES_AD595
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// Select one of these only to define how the bed temp is read.
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//#define BED_USES_THERMISTOR
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//#define BED_USES_AD595
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#define HEATER_CHECK_INTERVAL 50
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#define BED_CHECK_INTERVAL 5000
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//// Endstop Settings
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
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const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
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// This determines the communication speed of the printer
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#define BAUDRATE 250000
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//#define BAUDRATE 115200
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//#define BAUDRATE 230400
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// Comment out (using // at the start of the line) to disable SD support:
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// #define ULTRA_LCD //any lcd
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#define ULTIPANEL
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#define ULTIPANEL
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#ifdef ULTIPANEL
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//#define NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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#define ULTRA_LCD
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#define LCD_WIDTH 20
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#define LCD_HEIGHT 4
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#else //no panel but just lcd
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#ifdef ULTRA_LCD
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#define LCD_WIDTH 16
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#define LCD_HEIGHT 2
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#endif
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#endif
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//#define SDSUPPORT // Enable SD Card Support in Hardware Console
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const int dropsegments=5; //everything with this number of steps will be ignored as move
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//// ADVANCED SETTINGS - to tweak parameters
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#include "thermistortables.h"
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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#define Y_ENABLE_ON 0
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#define Z_ENABLE_ON 0
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#define E_ENABLE_ON 0
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// Disables axis when it's not being used.
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#define DISABLE_X false
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#define DISABLE_Y false
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#define DISABLE_Z false
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#define DISABLE_E false
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// Inverting axis direction
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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//// ENDSTOP SETTINGS:
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// Sets direction of endstops when homing; 1=MAX, -1=MIN
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#define X_HOME_DIR -1
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#define Y_HOME_DIR -1
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#define Z_HOME_DIR -1
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#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
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#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
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#define X_MAX_LENGTH 210
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#define Y_MAX_LENGTH 210
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#define Z_MAX_LENGTH 210
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//// MOVEMENT SETTINGS
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#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
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//note: on bernhards ultimaker 200 200 12 are working well.
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#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
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//the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed.
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//!!!!!!Use only if you know that your printer works at the maximum declared speeds.
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// works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze
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#define TRAVELING_AT_MAXSPEED
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#define AXIS_RELATIVE_MODES {false, false, false, false}
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#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
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// default settings
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#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
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#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
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#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
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#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 10
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000
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#define DEFAULT_XYJERK 30.0*60
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#define DEFAULT_ZJERK 10.0*60
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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//this enables the watchdog interrupt.
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#define USE_WATCHDOG
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//you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
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#define RESET_MANUAL
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#define WATCHDOG_TIMEOUT 4
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//// Experimental watchdog and minimal temp
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
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//#define WATCHPERIOD 5000 //5 seconds
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// Actual temperature must be close to target for this long before M109 returns success
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//#define TEMP_RESIDENCY_TIME 20 // (seconds)
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//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
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//// The minimal temperature defines the temperature below which the heater will not be enabled
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#define HEATER_0_MINTEMP 5
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//#define HEATER_1_MINTEMP 5
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//#define BED_MINTEMP 5
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// When temperature exceeds max temp, your heater will be switched off.
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// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
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// You should use MINTEMP for thermistor short/failure protection.
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#define HEATER_0_MAXTEMP 275
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//#define_HEATER_1_MAXTEMP 275
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//#define BED_MAXTEMP 150
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|
||||
|
||||
|
||||
|
||||
#define PIDTEMP
|
||||
#ifdef PIDTEMP
|
||||
/// PID settings:
|
||||
// Uncomment the following line to enable PID support.
|
||||
//#define SMOOTHING
|
||||
//#define SMOOTHFACTOR 5.0
|
||||
//float current_raw_average=0;
|
||||
#define K1 0.95 //smoothing of the PID
|
||||
//#define PID_DEBUG // Sends debug data to the serial port.
|
||||
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
|
||||
#define PID_MAX 255 // limits current to nozzle
|
||||
#define PID_INTEGRAL_DRIVE_MAX 255
|
||||
#define PID_dT 0.1
|
||||
//machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47
|
||||
|
||||
#define PID_CRITIAL_GAIN 3000
|
||||
#define PID_SWING_AT_CRITIAL 45 //seconds
|
||||
#define PIDIADD 5
|
||||
/*
|
||||
//PID according to Ziegler-Nichols method
|
||||
float Kp = 0.6*PID_CRITIAL_GAIN;
|
||||
float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;
|
||||
float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;
|
||||
*/
|
||||
//PI according to Ziegler-Nichols method
|
||||
#define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2)
|
||||
#define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
|
||||
#define DEFAULT_Kd (0)
|
||||
|
||||
#define PID_ADD_EXTRUSION_RATE
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
#define DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
|
||||
#endif
|
||||
#endif // PIDTEMP
|
||||
|
||||
// extruder advance constant (s2/mm3)
|
||||
//
|
||||
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
|
||||
//
|
||||
// hooke's law says: force = k * distance
|
||||
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
|
||||
// so: v ^ 2 is proportional to number of steps we advance the extruder
|
||||
//#define ADVANCE
|
||||
|
||||
#ifdef ADVANCE
|
||||
#define EXTRUDER_ADVANCE_K .3
|
||||
|
||||
#define D_FILAMENT 1.7
|
||||
#define STEPS_MM_E 65
|
||||
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
|
||||
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
|
||||
|
||||
#endif // ADVANCE
|
||||
|
||||
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32
|
||||
#if defined SDSUPPORT
|
||||
// The number of linear motions that can be in the plan at any give time.
|
||||
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
|
||||
#else
|
||||
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,133 @@
|
||||
/*
|
||||
motion_control.c - high level interface for issuing motion commands
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
Copyright (c) 2011 Sungeun K. Jeon
|
||||
|
||||
Grbl 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.
|
||||
|
||||
Grbl 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.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
//#include "motion_control.h"
|
||||
#include "Configuration.h"
|
||||
#include "Marlin.h"
|
||||
//#include <util/delay.h>
|
||||
//#include <math.h>
|
||||
//#include <stdlib.h>
|
||||
#include "stepper.h"
|
||||
#include "planner.h"
|
||||
|
||||
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
|
||||
// segment is configured in settings.mm_per_arc_segment.
|
||||
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
|
||||
uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
|
||||
{
|
||||
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
|
||||
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
|
||||
Serial.println("mc_arc");
|
||||
float center_axis0 = position[axis_0] + offset[axis_0];
|
||||
float center_axis1 = position[axis_1] + offset[axis_1];
|
||||
float linear_travel = target[axis_linear] - position[axis_linear];
|
||||
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
|
||||
float r_axis1 = -offset[axis_1];
|
||||
float rt_axis0 = target[axis_0] - center_axis0;
|
||||
float rt_axis1 = target[axis_1] - center_axis1;
|
||||
|
||||
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
|
||||
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
|
||||
if (angular_travel < 0) { angular_travel += 2*M_PI; }
|
||||
if (isclockwise) { angular_travel -= 2*M_PI; }
|
||||
|
||||
float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
|
||||
if (millimeters_of_travel == 0.0) { return; }
|
||||
uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
|
||||
/*
|
||||
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
|
||||
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
|
||||
// all segments.
|
||||
if (invert_feed_rate) { feed_rate *= segments; }
|
||||
*/
|
||||
float theta_per_segment = angular_travel/segments;
|
||||
float linear_per_segment = linear_travel/segments;
|
||||
|
||||
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
|
||||
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
|
||||
r_T = [cos(phi) -sin(phi);
|
||||
sin(phi) cos(phi] * r ;
|
||||
|
||||
For arc generation, the center of the circle is the axis of rotation and the radius vector is
|
||||
defined from the circle center to the initial position. Each line segment is formed by successive
|
||||
vector rotations. This requires only two cos() and sin() computations to form the rotation
|
||||
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
|
||||
all double numbers are single precision on the Arduino. (True double precision will not have
|
||||
round off issues for CNC applications.) Single precision error can accumulate to be greater than
|
||||
tool precision in some cases. Therefore, arc path correction is implemented.
|
||||
|
||||
Small angle approximation may be used to reduce computation overhead further. This approximation
|
||||
holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
|
||||
theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
|
||||
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
|
||||
numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
|
||||
issue for CNC machines with the single precision Arduino calculations.
|
||||
|
||||
This approximation also allows mc_arc to immediately insert a line segment into the planner
|
||||
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
|
||||
a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
|
||||
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 sin_T = theta_per_segment;
|
||||
|
||||
float arc_target[3];
|
||||
float sin_Ti;
|
||||
float cos_Ti;
|
||||
float r_axisi;
|
||||
uint16_t i;
|
||||
int8_t count = 0;
|
||||
|
||||
// Initialize the linear axis
|
||||
arc_target[axis_linear] = position[axis_linear];
|
||||
|
||||
for (i = 1; i<segments; i++) { // Increment (segments-1)
|
||||
|
||||
if (count < N_ARC_CORRECTION) {
|
||||
// Apply vector rotation matrix
|
||||
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
|
||||
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
|
||||
r_axis1 = r_axisi;
|
||||
count++;
|
||||
} else {
|
||||
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
|
||||
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
|
||||
cos_Ti = cos(i*theta_per_segment);
|
||||
sin_Ti = sin(i*theta_per_segment);
|
||||
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
|
||||
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
|
||||
count = 0;
|
||||
}
|
||||
|
||||
// Update arc_target location
|
||||
arc_target[axis_0] = center_axis0 + r_axis0;
|
||||
arc_target[axis_1] = center_axis1 + r_axis1;
|
||||
arc_target[axis_linear] += linear_per_segment;
|
||||
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], target[E_AXIS], feed_rate);
|
||||
|
||||
}
|
||||
// Ensure last segment arrives at target location.
|
||||
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
|
||||
|
||||
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
|
||||
}
|
||||
|
||||
@ -0,0 +1,32 @@
|
||||
/*
|
||||
motion_control.h - high level interface for issuing motion commands
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
Copyright (c) 2011 Sungeun K. Jeon
|
||||
|
||||
Grbl 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.
|
||||
|
||||
Grbl 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.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef motion_control_h
|
||||
#define motion_control_h
|
||||
|
||||
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
|
||||
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
|
||||
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
|
||||
// for vector transformation direction.
|
||||
void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
|
||||
unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise);
|
||||
|
||||
#endif
|
||||
Loading…
Reference in new issue