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Fix U,V,W axis operation, most notably homing, probing and moving with proper feed rates. #491

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merged 6 commits into from
Nov 5, 2021
Merged

Fix U,V,W axis operation, most notably homing, probing and moving with proper feed rates. #491

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e6a6064
fix axis names in position reports in text mode
prof7bit Feb 1, 2021
bcef302
refactor and fix axis homing order for 9 axes
prof7bit Feb 1, 2021
510b083
calculate feed time for 6 linear axes instead of only 3
prof7bit Feb 1, 2021
ec798d0
allow all 9 axes to be homed
prof7bit Feb 1, 2021
6cede50
calculate vector length with 9 dimensions instead of only 6, fixes U,…
prof7bit Feb 1, 2021
fc08359
allow U,W,W axes to be used for probing
prof7bit Feb 1, 2021
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4 changes: 2 additions & 2 deletions g2core/canonical_machine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2525,7 +2525,7 @@ static void _print_axis_coord_flt(nvObj_t *nv, const char *format)

static void _print_pos(nvObj_t *nv, const char *format, uint8_t units)
{
char axes[] = {"XYZABC"};
char axes[] = {"XYZUVWABC"};
uint8_t axis = _axis(nv);
if (axis >= AXIS_A) { units = DEGREES;}
sprintf(cs.out_buf, format, axes[axis], nv->value_flt, GET_TEXT_ITEM(msg_units, units));
Expand All @@ -2534,7 +2534,7 @@ static void _print_pos(nvObj_t *nv, const char *format, uint8_t units)

static void _print_hom(nvObj_t *nv, const char *format)
{
char axes[] = {"XYZABC"};
char axes[] = {"XYZUVWABC"};
uint8_t axis = _axis(nv);
sprintf(cs.out_buf, format, axes[axis], nv->value_int);
xio_writeline(cs.out_buf);
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153 changes: 20 additions & 133 deletions g2core/cycle_homing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -440,142 +440,29 @@ static stat_t _homing_finalize_exit(int8_t axis) // third part of return to hom
*/

static int8_t _get_next_axis(int8_t axis) {
#if (HOMING_AXES <= 4)
if (axis == -1) { // inelegant brute force solution
if (hm.axis_flags[AXIS_Z]) {
return (AXIS_Z);
}
if (hm.axis_flags[AXIS_X]) {
return (AXIS_X);
}
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
return (-2); // error
} else if (axis == AXIS_Z) {
if (hm.axis_flags[AXIS_X]) {
return (AXIS_X);
}
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
} else if (axis == AXIS_X) {
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
} else if (axis == AXIS_Y) {
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
}
return (-1); // done
const int8_t homing_order[9] = {AXIS_Z, AXIS_X, AXIS_Y, AXIS_U, AXIS_V, AXIS_W, AXIS_A, AXIS_B, AXIS_C};

#else
if (axis == -1) {
if (hm.axis_flags[AXIS_Z]) {
return (AXIS_Z);
}
if (hm.axis_flags[AXIS_X]) {
return (AXIS_X);
}
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
return (-2); // error
} else if (axis == AXIS_Z) {
if (hm.axis_flags[AXIS_X]) {
return (AXIS_X);
}
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
} else if (axis == AXIS_X) {
if (hm.axis_flags[AXIS_Y]) {
return (AXIS_Y);
}
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
} else if (axis == AXIS_Y) {
if (hm.axis_flags[AXIS_A]) {
return (AXIS_A);
}
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
}
} else if (axis == AXIS_A) {
if (hm.axis_flags[AXIS_B]) {
return (AXIS_B);
}
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
// search the first axis in the order whose flag is set
for (int i=0; i<9; i++) {
if (hm.axis_flags[homing_order[i]]) {
return homing_order[i];
}
}
} else if (axis == AXIS_B) {
if (hm.axis_flags[AXIS_C]) {
return (AXIS_C);
return -2; // no existing axis flag was set

} else {
// search the next axis in the order whose flag is set
for (int i=0; i<9; i++) {
if (axis == homing_order[i]) {
for (int j=i+1; j<9; j++) {
if (hm.axis_flags[homing_order[j]]) {
return homing_order[j];
}
}
return -1; // no more axes, we are done
}
}
return -1; // called with non-existing axis, should never happen (but compiler insists on some return value)
}
return (-1); // done

#endif // (HOMING_AXES <= 4)
}
1 change: 1 addition & 0 deletions g2core/cycle_probing.cpp
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Expand Up @@ -138,6 +138,7 @@ uint8_t cm_straight_probe(float target[], bool flags[], bool trip_sense, bool al

// error if no axes specified
if (!(flags[AXIS_X] | flags[AXIS_Y] | flags[AXIS_Z] |
flags[AXIS_U] | flags[AXIS_V] | flags[AXIS_W] |
flags[AXIS_A] | flags[AXIS_B] | flags[AXIS_C])) {
return(cm_alarm(STAT_AXIS_IS_MISSING, "Axis is missing"));
}
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2 changes: 1 addition & 1 deletion g2core/g2core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ typedef uint16_t magic_t; // magic number size
// Note: If you change COORDS you must adjust the entries in cfgArray table in config.c

#define AXES 9 // number of axes supported in this version
#define HOMING_AXES 4 // number of axes that can be homed (assumes Zxyabc sequence)
#define HOMING_AXES 9 // number of axes that can be homed (assumes Zxyabc sequence)
#define COORDS 6 // number of supported coordinate systems (index starts at 1)
#define TOOLS 32 // number of entries in tool table (index starts at 1)

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6 changes: 5 additions & 1 deletion g2core/plan_line.cpp
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Expand Up @@ -639,8 +639,12 @@ static void _calculate_vmaxes(mpBuf_t* bf, const float axis_length[], const floa
bf->gm.feed_rate_mode = UNITS_PER_MINUTE_MODE;
} else {
// compute length of linear move in millimeters. Feed rate is provided as mm/min
#if (AXES == 9)
feed_time = sqrt(axis_square[AXIS_X] + axis_square[AXIS_Y] + axis_square[AXIS_Z] + axis_square[AXIS_U] + axis_square[AXIS_V] + axis_square[AXIS_W]) / bf->gm.feed_rate;
#else
feed_time = sqrt(axis_square[AXIS_X] + axis_square[AXIS_Y] + axis_square[AXIS_Z]) / bf->gm.feed_rate;
// if no linear axes, compute length of multi-axis rotary move in degrees.
#endif
// if no linear axes, compute length of multi-axis rotary move in degrees.
// Feed rate is provided as degrees/min
if (fp_ZERO(feed_time)) {
feed_time = sqrt(axis_square[AXIS_A] + axis_square[AXIS_B] + axis_square[AXIS_C]) / bf->gm.feed_rate;
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3 changes: 3 additions & 0 deletions g2core/util.cpp
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Expand Up @@ -76,6 +76,9 @@ float get_axis_vector_length(const float a[], const float b[])
return (sqrt(square(a[AXIS_X] - b[AXIS_X]) +
square(a[AXIS_Y] - b[AXIS_Y]) +
square(a[AXIS_Z] - b[AXIS_Z]) +
square(a[AXIS_U] - b[AXIS_U]) +
square(a[AXIS_V] - b[AXIS_V]) +
square(a[AXIS_W] - b[AXIS_W]) +
square(a[AXIS_A] - b[AXIS_A]) +
square(a[AXIS_B] - b[AXIS_B]) +
square(a[AXIS_C] - b[AXIS_C])));
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