ManuelW/grbl-LPC-CoreXY
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support for helical motion

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This commit is contained in:
Simen Svale Skogsrud
2009-02-11 00:37:33 +01:00
parent 8f3a69b37e
commit e257fc195c
6 changed files with 164 additions and 117 deletions
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31
gcode.c
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@ -89,7 +89,7 @@ struct ParserState {
double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
uint8_t tool;
int16_t spindle_speed; /* RPM/100 */
uint8_t plane_axis_0, plane_axis_1; // The axes of the selected plane
uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // The axes of the selected plane
};
struct ParserState gc;
@ -103,21 +103,23 @@ int read_double(char *line, //!< string: line of RS274/NGC code being processed
int next_statement(char *letter, double *double_ptr, char *line, int *counter);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
{
gc.plane_axis_0 = axis_0;
gc.plane_axis_1 = axis_1;
gc.plane_axis_2 = axis_2;
}
void gc_init() {
memset(&gc, 0, sizeof(gc));
gc.feed_rate = DEFAULT_FEEDRATE;
gc.plane_axis_0 = X_AXIS; gc.plane_axis_1 = Y_AXIS;
select_plane(X_AXIS, Y_AXIS, Z_AXIS);
}
inline float to_millimeters(double value) {
return(gc.inches_mode ? value * INCHES_PER_MM : value);
}
void select_plane(uint8_t axis_0, uint8_t axis_1)
{
gc.plane_axis_0 = axis_0;
gc.plane_axis_1 = axis_1;
}
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floats (no whitespace).
@ -159,9 +161,9 @@ uint8_t gc_execute_line(char *line) {
case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break;
case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break;
case 4: next_action = NEXT_ACTION_DWELL; break;
case 17: select_plane(X_AXIS, Y_AXIS); break;
case 18: select_plane(X_AXIS, Z_AXIS); break;
case 19: select_plane(Y_AXIS, Z_AXIS); break;
case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break;
case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break;
case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;
case 20: gc.inches_mode = true; break;
case 21: gc.inches_mode = false; break;
case 28: case 30: next_action = NEXT_ACTION_GO_HOME; break;
@ -306,6 +308,7 @@ uint8_t gc_execute_line(char *line) {
// Calculate the change in position along each selected axis
double x = target[gc.plane_axis_0]-gc.position[gc.plane_axis_0];
double y = target[gc.plane_axis_1]-gc.position[gc.plane_axis_1];
clear_vector(&offset);
double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
@ -371,8 +374,14 @@ uint8_t gc_execute_line(char *line) {
}
// Find the radius
double radius = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]);
// Calculate the motion along the depth axis of the helix
double depth = target[gc.plane_axis_2]-gc.position[gc.plane_axis_2];
// Trace the arc
mc_arc(theta_start, angular_travel, radius, gc.plane_axis_0, gc.plane_axis_1, gc.feed_rate);
if (gc.inverse_feed_rate_mode) {
mc_arc(theta_start, angular_travel, radius, depth, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2, inverse_feed_rate, true);
} else {
mc_arc(theta_start, angular_travel, radius, depth, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2, gc.feed_rate, false);
}
break;
}
}