From 6c3a6a25d5b34d9a1cdf02d342ccf700dbcebfc3 Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Sun, 8 Feb 2009 12:24:52 +0100 Subject: [PATCH] pace calculation correct, arc algorithm correct, support for negative R --- config.h | 12 +- gcode.c | 39 +- motion_control.c | 31 +- scripts/console | 2 + scripts/proxy | 2 + serial_protocol.c | 2 +- testbench/echotest.rb | 7167 --------------------------------------- testbench/gcodetest.png | Bin 1623 -> 0 bytes todo.txt | 1 + 9 files changed, 45 insertions(+), 7211 deletions(-) create mode 100755 scripts/console create mode 100755 scripts/proxy delete mode 100644 testbench/echotest.rb delete mode 100644 testbench/gcodetest.png diff --git a/config.h b/config.h index f0abe22..6af95df 100644 --- a/config.h +++ b/config.h @@ -23,17 +23,17 @@ #define VERSION "0.0" -#define X_STEPS_PER_MM 5.0 -#define Y_STEPS_PER_MM 5.0 -#define Z_STEPS_PER_MM 5.0 +#define X_STEPS_PER_MM 10.0 +#define Y_STEPS_PER_MM 10.0 +#define Z_STEPS_PER_MM 10.0 #define INCHES_PER_MM 25.4 #define X_STEPS_PER_INCH X_STEPS_PER_MM*INCHES_PER_MM #define Y_STEPS_PER_INCH Y_STEPS_PER_MM*INCHES_PER_MM #define Z_STEPS_PER_INCH Z_STEPS_PER_MM*INCHES_PER_MM -#define RAPID_FEEDRATE 100.0 // in millimeters per minute -#define DEFAULT_FEEDRATE 635.0 +#define RAPID_FEEDRATE 200000.0 // in millimeters per minute +#define DEFAULT_FEEDRATE 200000.0 #define STEPPERS_ENABLE_DDR DDRB #define STEPPERS_ENABLE_PORT PORTB @@ -62,7 +62,7 @@ #define SPINDLE_DIRECTION_PORT PORTC #define SPINDLE_DIRECTION_BIT 4 -#define BAUD_RATE 19200 +#define BAUD_RATE 9600 #define STEP_MASK (1< 180 deg of angular travel | < 180 deg of angular travel, which is a good thing! + \ | / center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative | | - C */ - - if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; } + C <-- Current position */ + + + // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!), + // even though it is advised against ever generating such circles in a single line of g-code. By + // inverting the sign of h_x2_div_d the center of the circles is placed on the opposide side of the line of + // travel and thus we get the unadvisably long circles as prescribed. + if (r < 0) { h_x2_div_d = -h_x2_div_d; } // Complete the operation by calculating the actual center of the arc offset[gc.plane_axis_0] = (x-(y*h_x2_div_d))/2; offset[gc.plane_axis_1] = (y+(x*h_x2_div_d))/2; - - // printByte('('); - // printInteger(trunc(offset[gc.plane_axis_0])); printByte(','); - // printInteger(trunc(offset[gc.plane_axis_1])); - // printByte(')'); - } /* @@ -376,7 +379,7 @@ uint8_t gc_execute_line(char *line) { printString("mc_arc("); printInteger(trunc(theta_start/M_PI*180)); printByte(','); printInteger(trunc(angular_travel/M_PI*180)); printByte(','); - printInteger(trunc(radius)); printByte('…'); + printInteger(trunc(radius)); printByte(')'); mc_arc(theta_start, angular_travel, radius, gc.plane_axis_0, gc.plane_axis_1, gc.feed_rate); break; diff --git a/motion_control.c b/motion_control.c index 80878a2..b4efe7c 100644 --- a/motion_control.c +++ b/motion_control.c @@ -38,7 +38,7 @@ #include "wiring_serial.h" -#define ONE_MINUTE_OF_MICROSECONDS 60000000 +#define ONE_MINUTE_OF_MICROSECONDS 60000000.0 // Parameters when mode is MC_MODE_ARC struct LinearMotionParameters { @@ -87,16 +87,6 @@ inline void step_steppers(uint8_t *enabled); inline void step_axis(uint8_t axis); void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate); -// void printCurrentPosition() { -// int axis; -// printString("[ "); -// for(axis=X_AXIS; axis<=Z_AXIS; axis++) { -// printInteger(trunc(mc.position[axis]*100)); -// printByte(' '); -// } -// printString("]\n\r"); -// } -// void mc_init() { // Initialize state variables @@ -135,6 +125,7 @@ void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, // Find the magnitude of the axis with the longest travel mc.linear.maximum_steps = max(mc.linear.step_count[Z_AXIS], max(mc.linear.step_count[X_AXIS], mc.linear.step_count[Y_AXIS])); + if(mc.linear.maximum_steps == 0) { return; } // Nothing to do? if ((mc.linear.maximum_steps) == 0) { @@ -154,13 +145,13 @@ void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, } else { // Ask old Phytagoras to estimate how many mm our next move is going to take us: double millimeters_to_travel = - ceil(sqrt(pow((mc.linear.step_count[X_AXIS]),2) + - pow((mc.linear.step_count[Y_AXIS]),2) + - pow((mc.linear.step_count[Z_AXIS]),2))); + sqrt(pow(X_STEPS_PER_MM*mc.linear.step_count[X_AXIS],2) + + pow(Y_STEPS_PER_MM*mc.linear.step_count[Y_AXIS],2) + + pow(Z_STEPS_PER_MM*mc.linear.step_count[Z_AXIS],2)); // Calculate the microseconds between steps that we should wait in order to travel the // designated amount of millimeters in the amount of steps we are going to generate mc.pace = - round(((millimeters_to_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / mc.linear.maximum_steps); + ((millimeters_to_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / mc.linear.maximum_steps; } } @@ -201,6 +192,7 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int { memset(&mc.arc, 0, sizeof(mc.arc)); uint32_t radius_steps = round(radius*X_STEPS_PER_MM); + if(radius_steps == 0) { return; } mc.mode = MC_MODE_ARC; // Determine angular direction (+1 = clockwise, -1 = counterclockwise) mc.arc.angular_direction = signof(angular_travel); @@ -229,13 +221,13 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int mc.arc.axis_y = axis_2; // The amount of steppings performed while tracing a full circle is equal to the sum of sides in a // square inscribed in the circle. We use this to estimate the amount of steps as if this arc was a full circle: - uint32_t steps_in_full_circle = round(radius_steps * 4 * (1/sqrt(2))); + uint32_t steps_in_half_circle = round(radius_steps * 4 * (1/sqrt(2))); // We then calculate the millimeters of travel along the circumference of that same full circle - double millimeters_circumference = 2*radius*M_PI; + double millimeters_half_circumference = radius*M_PI; // Then we calculate the microseconds between each step as if we will trace the full circle. // It doesn't matter what fraction of the circle we are actuallyt going to trace. The pace is the same. mc.pace = - round(((millimeters_circumference * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / steps_in_full_circle); + ((millimeters_half_circumference * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / steps_in_half_circle; mc.arc.incomplete = true; } @@ -244,7 +236,8 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int mc.arc.target_x * mc.arc.target_direction_y) && \ (mc.arc.y * mc.arc.target_direction_x <= \ mc.arc.target_y * mc.arc.target_direction_x)) \ - { mc.arc.incomplete = false; } + { if ((signof(mc.arc.x) == signof(mc.arc.target_x)) && (signof(mc.arc.y) == signof(mc.arc.target_y))) \ + { mc.arc.incomplete = false; } } // Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy void step_arc_along_x(int8_t dx, int8_t dy) diff --git a/scripts/console b/scripts/console new file mode 100755 index 0000000..c75dc26 --- /dev/null +++ b/scripts/console @@ -0,0 +1,2 @@ +socat -d -d READLINE /dev/tty.usbserial-A4001o6L,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1 + diff --git a/scripts/proxy b/scripts/proxy new file mode 100755 index 0000000..13c6d90 --- /dev/null +++ b/scripts/proxy @@ -0,0 +1,2 @@ +socat -d -d tcp4-listen:5001,fork /dev/tty.usbserial-A4001o6L,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1 + diff --git a/serial_protocol.c b/serial_protocol.c index 43d8608..e5be1d5 100644 --- a/serial_protocol.c +++ b/serial_protocol.c @@ -83,7 +83,7 @@ void sp_process() char c; while((c = serialRead()) != -1) { - if(c == '\r') { // Line is complete. Then execute! + if((c < 32)) { // Line is complete. Then execute! line[line_counter] = 0; gc_execute_line(line); line_counter = 0; diff --git a/testbench/echotest.rb b/testbench/echotest.rb deleted file mode 100644 index f844dcd..0000000 --- a/testbench/echotest.rb +++ /dev/null @@ -1,7167 +0,0 @@ -require 'pp' -require 'rubygems' -require 'serialport' -require 'png' - -# Requires the gems serialport and png -# -# $ gem install ruby-serialport -# $ gem install png - - -@sp = SerialPort.new '/dev/tty.usbserial-A4001o6L', 19200 - -@canvas = PNG::Canvas.new(500,500) -@x = 0 -@y = 0 -@ready_for_command = true -@last_byte = Time.now - -@input = '' - -@step_count = 0 - -Thread.new do - step_mode = false - @sp.each_byte do |byte| - puts byte.chr - - @last_byte = Time.now - @input << byte.chr - if byte == 126 # ('~') - step_mode = true - @input << '[step mode on]' - else - if step_mode - @step_count += 1 - if byte == 10 - @input << '[step mode off]' - step_mode = false - @ready_for_command = true - else - step = byte-33 - puts @step_count - if 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HcmV?d00001 literal 1623 zcmeAS@N?(olHy`uVBq!ia0y~yVEh8Y9Be?5)7S2IF)*;ndAc};RLpsM+mP$9fe5SP z{r{Kzq-EHdG$(C8W8$=HhJfiYpu3}%Oh1z>!@ z!jQdz!4ZNBllT}In;`h{5g7(17FmX4ot6wN99Cf5BV5eDAy5Lw66((w1QcF?G0_IY z3?;^3n4v_un2^EPT#M6SY{7ub#Z)zzQ1~Ldm|(;qyO@x{qbUNMF_6O-ltJKOOwAMl zHx!iX2pNnVaU2%?*H?7gF!Wf?zxH_(I|JL@xmQ@_7>-$PWp=o5caJQCMDg71%nXc+ zfEjrHxf`wW4F7K2oxDB!PV5Ti2E+IFw#4seW;h(Pj2T#hjDlev0tzn}ul*AL?sfGz Ru-af?@O1TaS?83{1OOD1E4u&y diff --git a/todo.txt b/todo.txt index ab6e962..991d18c 100644 --- a/todo.txt +++ b/todo.txt @@ -1,3 +1,4 @@ +* Optimize arc target detection code utilizing the primary axis of travel * Use bitmasks, not vectors to build steps in motion_control * Arcs might be a step or two off because of FP gotchas. Must add a little nudge in the end there * Generalize feed rate code and support inverse feed rate for arcs