94 lines
3.8 KiB
C
94 lines
3.8 KiB
C
/*
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motion_control.c - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <avr/io.h>
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#include "settings.h"
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#include "motion_control.h"
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#include <util/delay.h>
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#include <math.h>
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#include <stdlib.h>
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#include "nuts_bolts.h"
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#include "stepper.h"
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#include "planner.h"
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#include "wiring_serial.h"
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void mc_dwell(uint32_t milliseconds)
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{
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st_synchronize();
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_delay_ms(milliseconds);
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}
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// 1/feed_rate minutes.
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void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate)
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{
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plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
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}
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// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
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// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
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// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
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// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
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// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
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// segment is configured in settings.mm_per_arc_segment.
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void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
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int axis_linear, double feed_rate, int invert_feed_rate)
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{
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int32_t position[3];
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st_get_position_steps(&position);
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int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
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plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc
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double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
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if (millimeters_of_travel == 0.0) { return; }
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uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment);
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// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
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// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
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// all segments.
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if (invert_feed_rate) { feed_rate *= segments; }
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// The angular motion for each segment
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double theta_per_segment = angular_travel/segments;
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// The linear motion for each segment
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double linear_per_segment = linear_travel/segments;
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// Compute the center of this circle
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double center_x = (position[axis_1]/settings.steps_per_mm[axis_1])-sin(theta)*radius;
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double center_y = (position[axis_2]/settings.steps_per_mm[axis_2])-cos(theta)*radius;
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// a vector to track the end point of each segment
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double target[3];
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int i;
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// Initialize the linear axis
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target[axis_linear] = position[axis_linear]/settings.steps_per_mm[axis_linear];
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for (i=0; i<=segments; i++) {
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target[axis_linear] += linear_per_segment;
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theta += theta_per_segment;
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target[axis_1] = center_x+sin(theta)*radius;
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target[axis_2] = center_y+cos(theta)*radius;
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plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
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}
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plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
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}
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void mc_go_home()
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{
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st_go_home();
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}
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