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Implement motion profiles, use them in homing and probing

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This commit is contained in:
Rob Giseburt
2020-07-26 15:37:07 -05:00
parent c2ad9d01a6
commit b3e0e9eb37
8 changed files with 23 additions and 47 deletions
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9
g2core/canonical_machine.cpp
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@@ -1214,9 +1214,14 @@ stat_t cm_resume_g92_offsets()
* cm_straight_traverse() - G0 linear rapid
*/
stat_t cm_straight_traverse(const float *target, const bool *flags, const uint8_t motion_profile)
stat_t cm_straight_traverse(const float *target, const bool *flags, const cmMotionProfile motion_profile)
{
cm->gm.motion_mode = MOTION_MODE_STRAIGHT_TRAVERSE;
#ifdef TRAVERSE_AT_HIGH_JERK
cm->gm.motion_profile = PROFILE_FAST; // override to make all traverses use high jerk
#else
cm->gm.motion_profile = motion_profile;
#endif
// it's legal for a G0 to have no axis words but we don't want to process it
if (!(flags[AXIS_X] | flags[AXIS_Y] | flags[AXIS_Z] |
@@ -1371,7 +1376,7 @@ stat_t cm_dwell(const float seconds)
* cm_straight_feed() - G1
*/
stat_t cm_straight_feed(const float *target, const bool *flags, const uint8_t motion_profile)
stat_t cm_straight_feed(const float *target, const bool *flags, const cmMotionProfile motion_profile)
{
// trap zero feed rate condition
if (fp_ZERO(cm->gm.feed_rate)) {

10
g2core/canonical_machine.h
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@@ -147,11 +147,6 @@ typedef enum { // feedhold state machine
FEEDHOLD_EXIT_ACTIONS_COMPLETE // completed exit actions
} cmFeedholdState;
typedef enum { // Motion profiles
PROFILE_NORMAL = 0, // Normal jerk in effect
PROFILE_FAST // High speed jerk in effect
} cmMotionProfile;
typedef enum { // state machine for cycle start
CYCLE_START_OFF = 0, // not requested
CYCLE_START_REQUESTED,
@@ -285,7 +280,6 @@ typedef struct cmMachine { // struct to manage canonical machin
cmFeedholdType hold_type; // hold: type of feedhold requested
cmFeedholdExit hold_exit; // hold: final state of hold on exit
cmMotionProfile hold_profile; // hold: motion profile to use for deceleration
cmFeedholdState hold_state; // hold: feedhold state machine
cmFlushState queue_flush_state; // queue flush state machine
@@ -422,7 +416,7 @@ stat_t cm_suspend_g92_offsets(void); // G
stat_t cm_resume_g92_offsets(void); // G92.3
// Free Space Motion (4.3.4)
stat_t cm_straight_traverse(const float *target, const bool *flags, const uint8_t motion_profile); // G0
stat_t cm_straight_traverse(const float *target, const bool *flags, const cmMotionProfile motion_profile); // G0
stat_t cm_set_g28_position(void); // G28.1
stat_t cm_goto_g28_position(const float target[], const bool flags[]); // G28
stat_t cm_set_g30_position(void); // G30.1
@@ -434,7 +428,7 @@ stat_t cm_set_feed_rate_mode(const uint8_t mode); // G
stat_t cm_set_path_control(GCodeState_t *gcode_state, const uint8_t mode); // G61, G61.1, G64
// Machining Functions (4.3.6)
stat_t cm_straight_feed(const float *target, const bool *flags, const uint8_t motion_profile); //G1
stat_t cm_straight_feed(const float *target, const bool *flags, const cmMotionProfile motion_profile); //G1
stat_t cm_dwell(const float seconds); // G4, P parameter
stat_t cm_arc_feed(const float target[], const bool target_f[], // G2/G3 - target endpoint

2
g2core/cycle_feedhold.cpp
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@@ -587,8 +587,6 @@ void cm_request_feedhold(cmFeedholdType type, cmFeedholdExit exit)
if ((cm1.hold_state == FEEDHOLD_OFF)) {
cm1.hold_type = type;
cm1.hold_exit = exit;
cm1.hold_profile =
((type == FEEDHOLD_TYPE_ACTIONS) || (type == FEEDHOLD_TYPE_HOLD)) ? PROFILE_NORMAL : PROFILE_FAST;
switch (cm1.hold_type) {
case FEEDHOLD_TYPE_HOLD: { op.add_action(_feedhold_no_actions); break; }

9
g2core/cycle_homing.cpp
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@@ -67,7 +67,6 @@ struct hmHomingSingleton { // persistent homing runtime variables
cmDistanceMode saved_distance_mode; // G90, G91 global setting
cmFeedRateMode saved_feed_rate_mode; // G93, G94 global setting
float saved_feed_rate; // F setting
float saved_jerk; // saved and restored for each axis homed
};
static struct hmHomingSingleton hm;
@@ -235,12 +234,11 @@ stat_t cm_homing_cycle_callback(void) {
/***********************************************************************************
* cm_abort_homing() - something big happened, the queue is flushing, reset to non-homing state
*
* Note: No need to worry about resetting states we saved (if we are actually homig), since
* when this is called everything is being reset anyway.
*
* The task here is to stop sending homing moves to the planner, and ensure we can re-enter
* homing fresh without issue.
*
* Note that this should always be called after any feedhold and planner reset.
*
*/
void cm_abort_homing(cmMachine_t *_cm) {
@@ -329,7 +327,6 @@ static stat_t _homing_axis_start(int8_t axis) {
}
// if homing is disabled for the axis then skip to the next axis
hm.saved_jerk = cm_get_axis_jerk(axis); // save the max jerk value
return (_set_homing_func(_homing_axis_clear_init)); // perform an initial clear
}
@@ -360,7 +357,6 @@ static stat_t _homing_axis_clear_init(int8_t axis) // first clear move
*/
static stat_t _homing_axis_search(int8_t axis) // drive to switch
{
cm_set_axis_max_jerk(axis, cm->a[axis].jerk_high); // use the high-speed jerk for search onward
_homing_axis_move(axis, hm.search_travel, hm.search_velocity);
return (_set_homing_func(_homing_axis_clear));
}
@@ -406,7 +402,6 @@ static stat_t _homing_axis_set_position(int8_t axis)
kn_forward_kinematics(en_get_encoder_snapshot_vector(), contact_position);
_homing_axis_move(axis, contact_position[AXIS_Z], hm.search_velocity);
}
cm_set_axis_max_jerk(axis, hm.saved_jerk); // restore the max jerk value
din_handlers[INPUT_ACTION_INTERNAL].deregisterHandler(&_homing_handler); // end homing mode
return (_set_homing_func(_homing_axis_start));

2
g2core/cycle_jogging.cpp
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@@ -56,7 +56,6 @@ struct jmJoggingSingleton { // persistent jogging runtime variables
uint8_t saved_coord_system; // G54 - G59 setting
uint8_t saved_distance_mode; // G90,G91 global setting
uint8_t saved_feed_rate_mode;
float saved_jerk; // saved and restored for each axis jogged
};
static struct jmJoggingSingleton jog;
@@ -92,7 +91,6 @@ stat_t cm_jogging_cycle_start(uint8_t axis) {
jog.saved_distance_mode = cm_get_distance_mode(ACTIVE_MODEL); // cm->gm.distance_mode;
jog.saved_feed_rate_mode = cm_get_feed_rate_mode(ACTIVE_MODEL);
jog.saved_feed_rate = (ACTIVE_MODEL)->feed_rate; // cm->gm.feed_rate;
jog.saved_jerk = cm->a[axis].jerk_max;
// set working values
cm_set_units_mode(MILLIMETERS);

16
g2core/cycle_probing.cpp
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@@ -62,7 +62,6 @@ struct pbProbingSingleton { // persistent probing runtime variables
cmUnitsMode saved_units_mode; // G20,G21 setting
cmDistanceMode saved_distance_mode; // G90,G91 global setting
bool saved_soft_limits; // turn off soft limits during probing
float saved_jerk[AXES]; // saved and restored for each axis
};
static struct pbProbingSingleton pb;
@@ -266,12 +265,11 @@ uint8_t cm_probing_cycle_callback(void)
/***********************************************************************************
* cm_abort_probing() - something big happened, the queue is flushing, reset to non-probing state
*
* Note: No need to worry about resetting states we saved (if we are actually probing), since
* when this is called everything is being reset anyway.
*
* The task here is to stop sending homing moves to the planner, and ensure we can re-enter
* homing fresh without issue.
*
* Note that this should always be called after any feedhold and planner reset.
*
*/
void cm_abort_probing(cmMachine_t *_cm) {
@@ -321,7 +319,6 @@ static stat_t _probe_move(const float target[], const bool flags[])
static uint8_t _probing_start()
{
// so optimistic... ;)
// These initializations are required before starting the probing cycle but must
// be done after the planner has exhausted all current moves as they affect the
// runtime (specifically the digital input modes). Side effects would include
@@ -341,12 +338,6 @@ static uint8_t _probing_start()
cm_set_distance_mode(ABSOLUTE_DISTANCE_MODE);
cm_set_units_mode(MILLIMETERS);
// Save the current jerk settings & change to the high-speed jerk settings
for (uint8_t axis = 0; axis < AXES; axis++) {
pb.saved_jerk[axis] = cm_get_axis_jerk(axis); // save the max jerk value
cm_set_axis_max_jerk(axis, cm->a[axis].jerk_high); // use the high-speed jerk for probe
}
// Error if the probe target is too close to the current position
if (get_axis_vector_length(cm->gmx.position, pb.target) < MINIMUM_PROBE_TRAVEL) {
return(_probing_exception_exit(STAT_PROBE_TRAVEL_TOO_SMALL));
@@ -400,9 +391,6 @@ static void _probe_restore_settings()
{
din_handlers[INPUT_ACTION_INTERNAL].deregisterHandler(&_probing_handler);
for (uint8_t axis = 0; axis < AXES; axis++) { // restore axis jerks
cm->a[axis].jerk_max = pb.saved_jerk[axis];
}
cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // release abs override and restore work offsets
cm_set_distance_mode(pb.saved_distance_mode);
cm_set_units_mode(pb.saved_units_mode);

7
g2core/gcode.h
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@@ -90,6 +90,11 @@ typedef enum {
UNITS_PER_REVOLUTION_MODE// G95 (unimplemented)
} cmFeedRateMode;
typedef enum { // Motion profiles
PROFILE_NORMAL = 0, // Normal jerk in effect
PROFILE_FAST // High speed jerk in effect
} cmMotionProfile;
typedef enum {
ORIGIN_OFFSET_SET=0, // G92 - set origin offsets
ORIGIN_OFFSET_CANCEL, // G92.1 - zero out origin offsets
@@ -179,6 +184,7 @@ struct GCodeState_t { // Gcode model state - used by model, planning
cmDistanceMode arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets
cmAbsoluteOverride absolute_override;// G53 TRUE = move using machine coordinates - this block only
cmCoordSystem coord_system; // G54-G59 - select coordinate system 1-9
cmMotionProfile motion_profile; // NORMAL or FAST - controls what jerk is used when
uint8_t tool; // G // M6 tool change - moves "tool_select" to "tool"
uint8_t tool_select; // G // T value - T sets this value
@@ -205,6 +211,7 @@ struct GCodeState_t { // Gcode model state - used by model, planning
arc_distance_mode = ABSOLUTE_DISTANCE_MODE;
absolute_override = ABSOLUTE_OVERRIDE_OFF;
coord_system = ABSOLUTE_COORDS;
motion_profile = PROFILE_NORMAL;
tool = 0;
tool_select = 0;

15
g2core/plan_line.cpp
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@@ -48,7 +48,6 @@ extern OutputPin<Motate::kDebug3_PinNumber> debug_pin3;
// planner helper functions
static mpBuf_t* _plan_block(mpBuf_t* bf);
static void _calculate_override(mpBuf_t* bf);
static void _calculate_jerk(mpBuf_t* bf);
static void _calculate_vmaxes(mpBuf_t* bf, const float axis_length[], const float axis_square[]);
static void _calculate_junction_vmax(mpBuf_t* bf);
@@ -455,18 +454,10 @@ static mpBuf_t* _plan_block(mpBuf_t* bf)
static float _get_axis_jerk(mpBuf_t* bf, uint8_t axis)
{
#ifdef TRAVERSE_AT_HIGH_JERK
switch (bf->gm.motion_mode) {
case MOTION_MODE_STRAIGHT_TRAVERSE:
//case MOTION_MODE_STRAIGHT_PROBE: // <-- not sure on this one
return cm->a[axis].jerk_high;
break;
default:
return cm->a[axis].jerk_max;
if (bf->gm.motion_profile == PROFILE_FAST) {
return cm->a[axis].jerk_high;
}
#else
return cm->a[axis].jerk_max;
#endif
return cm->a[axis].jerk_max;
}
static void _calculate_jerk(mpBuf_t* bf)