mirror of
https://github.com/grblHAL/core.git
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be9f7db33e
NOTE: Delta and polar kinematics is WIP (work in progress) and incomplete. Feedback is required as I do not have machines at hand for testing. Ref. issue #341 and #346.
162 lines
4.5 KiB
C
162 lines
4.5 KiB
C
/*
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maslow.h - Maslow router kinematics implementation
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Part of grblHAL
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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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The basis for this code has been pulled from MaslowDue created by Larry D O'Cull.
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<https://github.com/ldocull/MaslowDue>
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Some portions of that package directly or indirectly has been pulled from from the Maslow CNC
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firmware for Aduino Mega. Those parts are Copyright 2014-2017 Bar Smith.
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<https://www.maslowcnc.com/>
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It has been adapted for grbl by Terje Io.
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*** TO BE COMPLETED ***
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*/
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#include "../grbl.h"
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#ifndef _MASLOW_H_
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#define _MASLOW_H_
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#define FP_SCALING 1024.0f
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#define SPROCKET_RADIUS_MM (10.1f)
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#define MAX_SEG_LENGTH_MM 2.0f /* long lines must be segmented due to circular motion */
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// PID position loop factors X: Kp = 25000 Ki = 15000 Kd = 22000 Imax = 5000
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// 14.000 fixed point arithmetic S13.10
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#ifdef DRIVER_TLE5206
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#define MASLOW_A_KP 10.0f
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#define MASLOW_A_KI 21.0f
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#define MASLOW_A_KD 18.0f
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#define MASLOW_A_IMAX 5000
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#define MASLOW_B_KP 10.0f
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#define MASLOW_B_KI 21.0f
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#define MASLOW_B_KD 18.0f
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#define MASLOW_B_IMAX 5000
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#define MASLOW_Z_KP 10.0f
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#define MASLOW_Z_KI 21.0f
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#define MASLOW_Z_KD 17.0f
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#define MASLOW_Z_IMAX 5000
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#else
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#define MASLOW_A_KP 22.0f
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#define MASLOW_A_KI 17.0f
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#define MASLOW_A_KD 20.0f
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#define MASLOW_A_IMAX 5000
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#define MASLOW_B_KP 22.0f
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#define MASLOW_B_KI 17.0f
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#define MASLOW_B_KD 20.0f
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#define MASLOW_B_IMAX 5000
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#define MASLOW_Z_KP 20.0f
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#define MASLOW_Z_KI 17.0f
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#define MASLOW_Z_KD 18.0f
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#define MASLOW_Z_IMAX 5000
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#endif
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#define MASLOW_MACHINEWIDTH 2400.0f
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#define MASLOW_MACHINEHEIGHT 1200.0f
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#define MASLOW_DISTBETWEENMOTORS 3000.0f
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#define MASLOW_MOTOROFFSETY 600.0f
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#define MASLOW_CHAINLENGTH 3000.0f
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#define MASLOW_CHAINOVERSPROCKET 0
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#define MASLOW_CHAINSAGCORRECTION 59.504839f
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#define MASLOW_LEFTCHAINTOLERANCE 0.0f
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#define MASLOW_RIGHTCHAINTOLERANCE 0.0f
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#define MASLOW_ROTATIONDISKRADIUS 104.3f
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#define MASLOW_SLEDHEIGHT 139.0f
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#define MASLOW_SLEDWIDTH 310.0f
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#define MASLOW_ACORRSCALING 1.003922f
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#define MASLOW_BCORRSCALING 1.002611f
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typedef enum {
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Maslow_ChainOverSprocket = 260,
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Maslow_MachineWidth,
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Maslow_MachineHeight,
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Maslow_DistBetweenMotors,
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Maslow_MotorOffsetY,
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Maslow_AcorrScaling,
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Maslow_BcorrScaling,
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Maslow_SettingMax,
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} maslow_setting_t;
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typedef enum {
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AxisSetting_MaslowKP = 10,
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AxisSetting_MaslowKI,
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AxisSetting_MaslowKD,
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AxisSetting_MaslowIMax,
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AxisSetting_MaslowMaxSetting
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} maslow_axis_setting_t;
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typedef struct {
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float Kp;
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float Ki;
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float Kd;
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float Imax;
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} maslow_pid_coefficients_t;
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typedef struct {
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maslow_pid_coefficients_t pid[N_AXIS];
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uint32_t chainOverSprocket;
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float machineWidth; /* Maslow specific settings */
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float machineHeight;
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float distBetweenMotors;
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float motorOffsetY;
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float chainSagCorrection;
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float leftChainTolerance;
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float rightChainTolerance;
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float rotationDiskRadius;
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float chainLength;
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float sledHeight;
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float sledWidth;
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float XcorrScaling;
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float YcorrScaling;
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} maslow_settings_t;
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typedef struct {
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float Error;
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float Integral;
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float iterm;
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float DiffTerm;
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float speed;
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} maslow_debug_t;
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typedef struct {
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maslow_settings_t settings;
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void (*pid_settings_changed)(uint_fast8_t idx);
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void (*move)(uint_fast8_t idx, int_fast16_t distance);
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void (*reset_pid)(uint_fast8_t idx);
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void (*pos_enable)(bool enable);
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void (*tuning_enable)(bool enable);
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int32_t (*set_step_size)(uint_fast8_t idx, int32_t step_size);
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maslow_debug_t *(*get_debug_data)(uint_fast8_t idx);
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} maslow_hal_t;
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extern maslow_hal_t maslow_hal;
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// Initialize HAL pointers for Maslow Router kinematics
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bool maslow_init (void);
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static status_code_t maslow_tuning (uint_fast16_t state, char *line);
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#endif
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