1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
|
/*
* HangprinterKinematics.cpp
*
* Created on: 24 Nov 2017
* Author: David
*/
#include "HangprinterKinematics.h"
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
#include <Movement/Move.h>
#include <CAN/CanInterface.h>
#include <General/Portability.h>
// Default anchor coordinates
// These are only placeholders. Each machine must have these values calibrated in order to work correctly.
constexpr float DefaultAnchors[4][3] = {{ 0.0, -2000.0, -100.0},
{ 2000.0, 1000.0, -100.0},
{-2000.0, 1000.0, -100.0},
{ 0.0, 0.0, 3000.0}};
constexpr float DefaultPrintRadius = 1500.0;
#if SUPPORT_OBJECT_MODEL
// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(HangprinterKinematics, __VA_ARGS__)
constexpr ObjectModelArrayDescriptor HangprinterKinematics::anchorCoordinatesArrayDescriptor =
{
nullptr, // no lock needed
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return 3; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const HangprinterKinematics *)self)->anchors[context.GetIndex(1)][context.GetLastIndex()], 1); }
};
constexpr ObjectModelArrayDescriptor HangprinterKinematics::anchorsArrayDescriptor =
{
nullptr, // no lock needed
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return HANGPRINTER_AXES; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(&anchorCoordinatesArrayDescriptor); }
};
constexpr ObjectModelTableEntry HangprinterKinematics::objectModelTable[] =
{
// Within each group, these entries must be in alphabetical order
// 0. kinematics members
{ "anchors", OBJECT_MODEL_FUNC_NOSELF(&anchorsArrayDescriptor), ObjectModelEntryFlags::none },
{ "name", OBJECT_MODEL_FUNC(self->GetName(true)), ObjectModelEntryFlags::none },
{ "printRadius", OBJECT_MODEL_FUNC(self->printRadius, 1), ObjectModelEntryFlags::none },
};
constexpr uint8_t HangprinterKinematics::objectModelTableDescriptor[] = { 1, 3 };
DEFINE_GET_OBJECT_MODEL_TABLE_WITH_PARENT(HangprinterKinematics, Kinematics)
#endif
// Constructor
HangprinterKinematics::HangprinterKinematics() noexcept
: RoundBedKinematics(KinematicsType::hangprinter, SegmentationType(true, true, true))
{
Init();
}
void HangprinterKinematics::Init() noexcept
{
/* Naive buildup factor calculation (assumes cylindrical, straight line)
* line diameter: 0.5 mm
* spool height: 8.0 mm
* (line_cross_section_area)/(height*pi): ((0.5/2)*(0.5/2)*pi)/(8.0*pi) = 0.0078 mm
* Default buildup factor for 0.50 mm FireLine: 0.0078
* Default buildup factor for 0.39 mm FireLine: 0.00475
* In practice you might want to compensate a bit more or a bit less */
constexpr float DefaultSpoolBuildupFactor = 0.007;
/* Measure and set spool radii with M669 to achieve better accuracy */
constexpr float DefaultSpoolRadii[4] = { 75.0, 75.0, 75.0, 75.0}; // HP4 default
/* If axis runs lines back through pulley system, set mechanical advantage accordingly with M669 */
constexpr uint32_t DefaultMechanicalAdvantage[4] = { 2, 2, 2, 4}; // HP4 default
constexpr uint32_t DefaultLinesPerSpool[4] = { 1, 1, 1, 1}; // HP4 default
constexpr uint32_t DefaultMotorGearTeeth[4] = { 20, 20, 20, 20}; // HP4 default
constexpr uint32_t DefaultSpoolGearTeeth[4] = { 255, 255, 255, 255}; // HP4 default
constexpr uint32_t DefaultFullStepsPerMotorRev[4] = { 25, 25, 25, 25};
ARRAY_INIT(anchors, DefaultAnchors);
printRadius = DefaultPrintRadius;
spoolBuildupFactor = DefaultSpoolBuildupFactor;
ARRAY_INIT(spoolRadii, DefaultSpoolRadii);
ARRAY_INIT(mechanicalAdvantage, DefaultMechanicalAdvantage);
ARRAY_INIT(linesPerSpool, DefaultLinesPerSpool);
ARRAY_INIT(motorGearTeeth, DefaultMotorGearTeeth);
ARRAY_INIT(spoolGearTeeth, DefaultSpoolGearTeeth);
ARRAY_INIT(fullStepsPerMotorRev, DefaultFullStepsPerMotorRev);
Recalc();
}
// Recalculate the derived parameters
void HangprinterKinematics::Recalc() noexcept
{
printRadiusSquared = fsquare(printRadius);
// This is the difference between a "line length" and a "line position"
// "line length" == ("line position" + "line length in origin")
lineLengthsOrigin[A_AXIS] = fastSqrtf(fsquare(anchors[A_AXIS][0]) + fsquare(anchors[A_AXIS][1]) + fsquare(anchors[A_AXIS][2]));
lineLengthsOrigin[B_AXIS] = fastSqrtf(fsquare(anchors[B_AXIS][0]) + fsquare(anchors[B_AXIS][1]) + fsquare(anchors[B_AXIS][2]));
lineLengthsOrigin[C_AXIS] = fastSqrtf(fsquare(anchors[C_AXIS][0]) + fsquare(anchors[C_AXIS][1]) + fsquare(anchors[C_AXIS][2]));
lineLengthsOrigin[D_AXIS] = fastSqrtf(fsquare(anchors[D_AXIS][0]) + fsquare(anchors[D_AXIS][1]) + fsquare(anchors[D_AXIS][2]));
// Line buildup compensation
float stepsPerUnitTimesRTmp[HANGPRINTER_AXES] = { 0.0 };
Platform& platform = reprap.GetPlatform(); // No const because we want to set drive steper per unit
for (size_t i = 0; i < HANGPRINTER_AXES; i++)
{
const uint8_t driver = platform.GetAxisDriversConfig(i).driverNumbers[0].localDriver; // Only supports single driver
bool dummy;
stepsPerUnitTimesRTmp[i] =
(
(float)(mechanicalAdvantage[i])
* fullStepsPerMotorRev[i]
* platform.GetMicrostepping(driver, dummy)
* spoolGearTeeth[i]
)
/ (2.0 * Pi * motorGearTeeth[i]);
k2[i] = -(float)(mechanicalAdvantage[i] * linesPerSpool[i]) * spoolBuildupFactor;
k0[i] = 2.0 * stepsPerUnitTimesRTmp[i] / k2[i];
spoolRadiiSq[i] = spoolRadii[i] * spoolRadii[i];
// Calculate the steps per unit that is correct at the origin
platform.SetDriveStepsPerUnit(i, stepsPerUnitTimesRTmp[i] / spoolRadii[i], 0);
}
}
// Return the name of the current kinematics
const char *HangprinterKinematics::GetName(bool forStatusReport) const noexcept
{
return "Hangprinter";
}
// Set the parameters from a M665, M666 or M669 command
// Return true if we changed any parameters that affect the geometry. Set 'error' true if there was an error, otherwise leave it alone.
bool HangprinterKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const StringRef& reply, bool& error) THROWS(GCodeException) /*override*/
{
bool seen = false;
if (mCode == 669)
{
const bool seenNonGeometry = TryConfigureSegmentation(gb);
if (gb.TryGetFloatArray('A', 3, anchors[A_AXIS], reply, seen))
{
error = true;
return true;
}
if (gb.TryGetFloatArray('B', 3, anchors[B_AXIS], reply, seen))
{
error = true;
return true;
}
if (gb.TryGetFloatArray('C', 3, anchors[C_AXIS], reply, seen))
{
error = true;
return true;
}
if (gb.TryGetFloatArray('D', 3, anchors[D_AXIS], reply, seen))
{
error = true;
return true;
}
if (gb.Seen('P'))
{
printRadius = gb.GetFValue();
seen = true;
}
if (seen)
{
Recalc();
}
else if (!seenNonGeometry && !gb.Seen('K'))
{
Kinematics::Configure(mCode, gb, reply, error);
reply.lcatf(
"A:%.2f, %.2f, %.2f\n"
"B:%.2f, %.2f, %.2f\n"
"C:%.2f, %.2f, %.2f\n"
"D:%.2f, %.2f, %.2f\n"
"P:Print radius: %.1f",
(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS],
(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS],
(double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS],
(double)printRadius
);
}
}
else if (mCode == 666)
{
gb.TryGetFValue('Q', spoolBuildupFactor, seen);
if (gb.TryGetFloatArray('R', HANGPRINTER_AXES, spoolRadii, reply, seen))
{
error = true;
return true;
}
if (gb.TryGetUIArray('U', HANGPRINTER_AXES, mechanicalAdvantage, reply, seen))
{
error = true;
return true;
}
if (gb.TryGetUIArray('O', HANGPRINTER_AXES, linesPerSpool, reply, seen))
{
error = true;
return true;
}
if (gb.TryGetUIArray('L', HANGPRINTER_AXES, motorGearTeeth, reply, seen))
{
error = true;
return true;
}
if (gb.TryGetUIArray('H', HANGPRINTER_AXES, spoolGearTeeth, reply, seen))
{
error = true;
return true;
}
if (gb.TryGetUIArray('J', HANGPRINTER_AXES, fullStepsPerMotorRev, reply, seen))
{
error = true;
return true;
}
if (seen)
{
Recalc();
}
else
{
reply.printf(
"Q:Buildup fac %.4f\n"
"R:Spool r %.2f, %.2f, %.2f, %.2f\n"
"U:Mech Adv %d, %d, %d, %d\n"
"O:Lines/spool %d, %d, %d, %d\n"
"L:Motor gear teeth %d, %d, %d, %d\n"
"H:Spool gear teeth %d, %d, %d, %d\n"
"J:Full steps/rev %d, %d, %d, %d",
(double)spoolBuildupFactor,
(double)spoolRadii[A_AXIS], (double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS],
(int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS], (int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS],
(int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS], (int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS],
(int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS], (int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS],
(int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS], (int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS],
(int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS], (int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]
);
}
}
else
{
return Kinematics::Configure(mCode, gb, reply, error);
}
return seen;
}
// Calculate the square of the line length from a spool from a Cartesian coordinate
inline float HangprinterKinematics::LineLengthSquared(const float machinePos[3], const float anchors[3]) const noexcept
{
return fsquare(anchors[Z_AXIS] - machinePos[Z_AXIS]) + fsquare(anchors[Y_AXIS] - machinePos[Y_AXIS]) + fsquare(anchors[X_AXIS] - machinePos[X_AXIS]);
}
// Convert Cartesian coordinates to motor coordinates, returning true if successful
bool HangprinterKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[],
size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const noexcept
{
float squaredLineLengths[HANGPRINTER_AXES];
squaredLineLengths[A_AXIS] = LineLengthSquared(machinePos, anchors[A_AXIS]);
squaredLineLengths[B_AXIS] = LineLengthSquared(machinePos, anchors[B_AXIS]);
squaredLineLengths[C_AXIS] = LineLengthSquared(machinePos, anchors[C_AXIS]);
squaredLineLengths[D_AXIS] = LineLengthSquared(machinePos, anchors[D_AXIS]);
float linePos[HANGPRINTER_AXES];
for (size_t i = 0; i < HANGPRINTER_AXES; ++i)
{
linePos[i] = fastSqrtf(squaredLineLengths[i]) - lineLengthsOrigin[i];
}
motorPos[A_AXIS] = lrintf(k0[A_AXIS] * (fastSqrtf(spoolRadiiSq[A_AXIS] + linePos[A_AXIS] * k2[A_AXIS]) - spoolRadii[A_AXIS]));
motorPos[B_AXIS] = lrintf(k0[B_AXIS] * (fastSqrtf(spoolRadiiSq[B_AXIS] + linePos[B_AXIS] * k2[B_AXIS]) - spoolRadii[B_AXIS]));
motorPos[C_AXIS] = lrintf(k0[C_AXIS] * (fastSqrtf(spoolRadiiSq[C_AXIS] + linePos[C_AXIS] * k2[C_AXIS]) - spoolRadii[C_AXIS]));
motorPos[D_AXIS] = lrintf(k0[D_AXIS] * (fastSqrtf(spoolRadiiSq[D_AXIS] + linePos[D_AXIS] * k2[D_AXIS]) - spoolRadii[D_AXIS]));
return true;
}
inline float HangprinterKinematics::MotorPosToLinePos(const int32_t motorPos, size_t axis) const noexcept
{
return (fsquare(motorPos / k0[axis] + spoolRadii[axis]) - spoolRadiiSq[axis]) / k2[axis];
}
// Convert motor coordinates to machine coordinates.
// Assumes lines are tight and anchor location norms are followed
void HangprinterKinematics::MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const noexcept
{
ForwardTransform(
MotorPosToLinePos(motorPos[A_AXIS], A_AXIS) + lineLengthsOrigin[A_AXIS],
MotorPosToLinePos(motorPos[B_AXIS], B_AXIS) + lineLengthsOrigin[B_AXIS],
MotorPosToLinePos(motorPos[C_AXIS], C_AXIS) + lineLengthsOrigin[C_AXIS],
MotorPosToLinePos(motorPos[D_AXIS], D_AXIS) + lineLengthsOrigin[D_AXIS],
machinePos);
}
static bool isSameSide(float const v0[3], float const v1[3], float const v2[3], float const v3[3], float const p[3]){
float const h0[3] = {v1[0] - v0[0], v1[1] - v0[1], v1[2] - v0[2]};
float const h1[3] = {v2[0] - v0[0], v2[1] - v0[1], v2[2] - v0[2]};
float const normal[3] = {
h0[1]*h1[2] - h0[2]*h1[1],
h0[2]*h1[0] - h0[0]*h1[2],
h0[0]*h1[1] - h0[1]*h1[0]
};
float const dh0[3] = {v3[0] - v0[0], v3[1] - v0[1], v3[2] - v0[2]};
float const dh1[3] = { p[0] - v0[0], p[1] - v0[1], p[2] - v0[2]};
float const dot0 = dh0[0]*normal[0] + dh0[1]*normal[1] + dh0[2]*normal[2];
float const dot1 = dh1[0]*normal[0] + dh1[1]*normal[1] + dh1[2]*normal[2];
return dot0*dot1 > 0.0F;
}
static bool isInsideTetrahedron(float const point[3], float const tetrahedron[4][3]){
return isSameSide(tetrahedron[0], tetrahedron[1], tetrahedron[2], tetrahedron[3], point) &&
isSameSide(tetrahedron[2], tetrahedron[1], tetrahedron[3], tetrahedron[0], point) &&
isSameSide(tetrahedron[2], tetrahedron[3], tetrahedron[0], tetrahedron[1], point) &&
isSameSide(tetrahedron[0], tetrahedron[3], tetrahedron[1], tetrahedron[2], point);
}
bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
{
float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
return isInsideTetrahedron(coords, anchors);
}
// Limit the Cartesian position that the user wants to move to returning true if we adjusted the position
LimitPositionResult HangprinterKinematics::LimitPosition(float finalCoords[], const float * null initialCoords,
size_t numVisibleAxes, AxesBitmap axesToLimit, bool isCoordinated, bool applyM208Limits) const noexcept
{
bool limited = false;
if ((axesToLimit & XyzAxes) == XyzAxes)
{
// If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits.
// Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing
// Constrain the move to be within the build radius
const float diagonalSquared = fsquare(finalCoords[X_AXIS]) + fsquare(finalCoords[Y_AXIS]);
if (diagonalSquared > printRadiusSquared)
{
const float factor = fastSqrtf(printRadiusSquared / diagonalSquared);
finalCoords[X_AXIS] *= factor;
finalCoords[Y_AXIS] *= factor;
limited = true;
}
if (applyM208Limits)
{
if (finalCoords[Z_AXIS] < reprap.GetPlatform().AxisMinimum(Z_AXIS))
{
finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMinimum(Z_AXIS);
limited = true;
}
else if (finalCoords[Z_AXIS] > reprap.GetPlatform().AxisMaximum(Z_AXIS))
{
finalCoords[Z_AXIS] = reprap.GetPlatform().AxisMaximum(Z_AXIS);
limited = true;
}
}
}
//TODO check intermediate positions, especially uif.when we support an offset radius
return (limited) ? LimitPositionResult::adjusted : LimitPositionResult::ok;
}
// Return the initial Cartesian coordinates we assume after switching to this kinematics
void HangprinterKinematics::GetAssumedInitialPosition(size_t numAxes, float positions[]) const noexcept
{
for (size_t i = 0; i < numAxes; ++i)
{
positions[i] = 0.0;
}
}
// This function is called when a request is made to home the axes in 'toBeHomed' and the axes in 'alreadyHomed' have already been homed.
// If we can proceed with homing some axes, return the name of the homing file to be called.
// If we can't proceed because other axes need to be homed first, return nullptr and pass those axes back in 'mustBeHomedFirst'.
AxesBitmap HangprinterKinematics::GetHomingFileName(AxesBitmap toBeHomed, AxesBitmap alreadyHomed, size_t numVisibleAxes, const StringRef& filename) const noexcept
{
filename.copy("homeall.g");
return AxesBitmap();
}
// This function is called from the step ISR when an endstop switch is triggered during homing.
// Return true if the entire homing move should be terminated, false if only the motor associated with the endstop switch should be stopped.
bool HangprinterKinematics::QueryTerminateHomingMove(size_t axis) const noexcept
{
return false;
}
// This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors.
// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false.
void HangprinterKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const noexcept
{
// Hangprinter homing is not supported
}
// Return the axes that we can assume are homed after executing a G92 command to set the specified axis coordinates
AxesBitmap HangprinterKinematics::AxesAssumedHomed(AxesBitmap g92Axes) const noexcept
{
// If all of X, Y and Z have been specified then we know the positions of all 4 spool motors, otherwise we don't
if ((g92Axes & XyzAxes) == XyzAxes)
{
g92Axes.SetBit(D_AXIS);
}
else
{
g92Axes &= ~XyzAxes;
}
return g92Axes;
}
// Return the set of axes that must be homed prior to regular movement of the specified axes
AxesBitmap HangprinterKinematics::MustBeHomedAxes(AxesBitmap axesMoving, bool disallowMovesBeforeHoming) const noexcept
{
if (axesMoving.Intersects(XyzAxes))
{
axesMoving |= XyzAxes;
}
return axesMoving;
}
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
// Write the parameters to a file, returning true if success
bool HangprinterKinematics::WriteCalibrationParameters(FileStore *f) const noexcept
{
bool ok = f->Write("; Hangprinter parameters\n");
if (ok)
{
String<100> scratchString;
scratchString.printf("M669 K6 A%.3f:%.3f:%.3f B%.3f:%.3f:%.3f C%.3f:%.3f:%.3f D%.3f:%.3f:%.3f P%.1f\n",
(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS],
(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS],
(double)anchors[D_AXIS][X_AXIS], (double)anchors[D_AXIS][Y_AXIS], (double)anchors[D_AXIS][Z_AXIS],
(double)printRadius);
ok = f->Write(scratchString.c_str());
if (ok) {
scratchString.printf("M666 Q%.6f R%.3f:%.3f:%.3f:%.3f U%d:%d:%d:%d ",
(double)spoolBuildupFactor, (double)spoolRadii[A_AXIS],
(double)spoolRadii[B_AXIS], (double)spoolRadii[C_AXIS], (double)spoolRadii[D_AXIS],
(int)mechanicalAdvantage[A_AXIS], (int)mechanicalAdvantage[B_AXIS],
(int)mechanicalAdvantage[C_AXIS], (int)mechanicalAdvantage[D_AXIS]
);
ok = f->Write(scratchString.c_str());
if (ok) {
scratchString.printf("O%d:%d:%d:%d L%d:%d:%d:%d H%d:%d:%d:%d J%d:%d:%d:%d\n",
(int)linesPerSpool[A_AXIS], (int)linesPerSpool[B_AXIS],
(int)linesPerSpool[C_AXIS], (int)linesPerSpool[D_AXIS],
(int)motorGearTeeth[A_AXIS], (int)motorGearTeeth[B_AXIS],
(int)motorGearTeeth[C_AXIS], (int)motorGearTeeth[D_AXIS],
(int)spoolGearTeeth[A_AXIS], (int)spoolGearTeeth[B_AXIS],
(int)spoolGearTeeth[C_AXIS], (int)spoolGearTeeth[D_AXIS],
(int)fullStepsPerMotorRev[A_AXIS], (int)fullStepsPerMotorRev[B_AXIS],
(int)fullStepsPerMotorRev[C_AXIS], (int)fullStepsPerMotorRev[D_AXIS]
);
ok = f->Write(scratchString.c_str());
}
}
}
return ok;
}
// Write any calibration data that we need to resume a print after power fail, returning true if successful
bool HangprinterKinematics::WriteResumeSettings(FileStore *f) const noexcept
{
return WriteCalibrationParameters(f);
}
#endif
/**
* Hangprinter forward kinematics
* Basic idea is to subtract squared line lengths to get linear equations,
* and then to solve with variable substitution.
*
* If we assume anchor location norms are followed, then
* we get a fairly clean derivation by
* subtracting d*d from a*a, b*b, and c*c:
*
* a*a - d*d = k1 + k2*y + k3*z <---- a line (I)
* b*b - d*d = k4 + k5*x + k6*y + k7*z <---- a plane (II)
* c*c - d*d = k8 + k9*x + k10*y + k11*z <---- a plane (III)
*
* Use (I) to reduce (II) and (III) into lines. Eliminate y, keep z.
*
* (II): b*b - d*d = k12 + k13*x + k14*z
* <=> x = k0b + k1b*z, <---- a line (IV)
*
* (III): c*c - d*d = k15 + k16*x + k17*z
* <=> x = k0c + k1c*z, <---- a line (V)
*
* where k1, k2, ..., k17, k0b, k0c, k1b, and k1c are known constants.
*
* These two straight lines are not parallel, so they will cross in exactly one point.
* Find z by setting (IV) = (V)
* Find x by inserting z into (V)
* Find y by inserting z into (I)
*
* Warning: truncation errors will typically be in the order of a few tens of microns.
*/
void HangprinterKinematics::ForwardTransform(float const a, float const b, float const c, float const d, float machinePos[3]) const noexcept
{
// Anchor location norms
if (fabsf(anchors[D_AXIS][X_AXIS]) > 0.1F ||
fabsf(anchors[D_AXIS][Y_AXIS]) > 0.1F ||
fabsf(anchors[A_AXIS][X_AXIS]) > 0.1F ||
fabsf(anchors[B_AXIS][X_AXIS]) < 0.1F ||
fabsf(anchors[C_AXIS][X_AXIS]) < 0.1F ||
fabsf(anchors[A_AXIS][Y_AXIS]) < 0.1F) {
return;
}
const float Asq = fsquare(lineLengthsOrigin[A_AXIS]);
const float Bsq = fsquare(lineLengthsOrigin[B_AXIS]);
const float Csq = fsquare(lineLengthsOrigin[C_AXIS]);
const float Dsq = fsquare(lineLengthsOrigin[D_AXIS]);
const float aa = fsquare(a);
const float dd = fsquare(d);
const float k0b = (-fsquare(b) + Bsq - Dsq + dd) / (2.0 * anchors[B_AXIS][X_AXIS]) + (anchors[B_AXIS][Y_AXIS] / (2.0 * anchors[A_AXIS][Y_AXIS] * anchors[B_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
const float k0c = (-fsquare(c) + Csq - Dsq + dd) / (2.0 * anchors[C_AXIS][X_AXIS]) + (anchors[C_AXIS][Y_AXIS] / (2.0 * anchors[A_AXIS][Y_AXIS] * anchors[C_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
const float k1b = (anchors[B_AXIS][Y_AXIS] * (anchors[A_AXIS][Z_AXIS] - anchors[D_AXIS][Z_AXIS])) / (anchors[A_AXIS][Y_AXIS] * anchors[B_AXIS][X_AXIS]) + (anchors[D_AXIS][Z_AXIS] - anchors[B_AXIS][Z_AXIS]) / anchors[B_AXIS][X_AXIS];
const float k1c = (anchors[C_AXIS][Y_AXIS] * (anchors[A_AXIS][Z_AXIS] - anchors[D_AXIS][Z_AXIS])) / (anchors[A_AXIS][Y_AXIS] * anchors[C_AXIS][X_AXIS]) + (anchors[D_AXIS][Z_AXIS] - anchors[C_AXIS][Z_AXIS]) / anchors[C_AXIS][X_AXIS];
machinePos[Z_AXIS] = (k0b - k0c) / (k1c - k1b);
machinePos[X_AXIS] = k0c + k1c * machinePos[Z_AXIS];
machinePos[Y_AXIS] = (Asq - Dsq - aa + dd) / (2.0 * anchors[A_AXIS][Y_AXIS]) + ((anchors[D_AXIS][Z_AXIS] - anchors[A_AXIS][Z_AXIS]) / anchors[A_AXIS][Y_AXIS]) * machinePos[Z_AXIS];
}
// Print all the parameters for debugging
void HangprinterKinematics::PrintParameters(const StringRef& reply) const noexcept
{
reply.printf("Anchor coordinates (%.2f,%.2f,%.2f) (%.2f,%.2f,%.2f) (%.2f,%.2f,%.2f)\n",
(double)anchors[A_AXIS][X_AXIS], (double)anchors[A_AXIS][Y_AXIS], (double)anchors[A_AXIS][Z_AXIS],
(double)anchors[B_AXIS][X_AXIS], (double)anchors[B_AXIS][Y_AXIS], (double)anchors[B_AXIS][Z_AXIS],
(double)anchors[C_AXIS][X_AXIS], (double)anchors[C_AXIS][Y_AXIS], (double)anchors[C_AXIS][Z_AXIS]);
}
#if DUAL_CAN
HangprinterKinematics::ODriveAnswer HangprinterKinematics::GetODrive3EncoderEstimate(DriverId const driver, bool const makeReference, const StringRef& reply, bool const subtractReference) THROWS(GCodeException)
{
const uint8_t cmd = CANSimple::MSG_GET_ENCODER_ESTIMATES;
static CanAddress seenDrives[HANGPRINTER_AXES] = { 0, 0, 0, 0 };
static float referencePositions[HANGPRINTER_AXES] = { 0.0, 0.0, 0.0, 0.0 };
static size_t numSeenDrives = 0;
size_t thisDriveIdx = 0;
while (thisDriveIdx < numSeenDrives && seenDrives[thisDriveIdx] != driver.boardAddress)
{
thisDriveIdx++;
}
bool const newOne = (thisDriveIdx == numSeenDrives);
if (newOne)
{
if (numSeenDrives < HANGPRINTER_AXES)
{
seenDrives[thisDriveIdx] = driver.boardAddress;
numSeenDrives++;
}
else // we don't have space for a new one
{
reply.printf("Max CAN addresses we can reference is %d. Can't reference board %d.", HANGPRINTER_AXES, driver.boardAddress);
numSeenDrives = HANGPRINTER_AXES;
return {};
}
}
CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply);
if (buf == nullptr)
{
return {};
}
buf->id = CanInterface::ODrive::ArbitrationId(driver, cmd);
buf->remote = true; // Indicates that we expect an answer
CanInterface::ODrive::FlushCanReceiveHardware();
CanInterface::SendPlainMessageNoFree(buf);
bool ok = CanInterface::ODrive::GetExpectedSimpleMessage(buf, driver, cmd, reply);
float encoderEstimate = 0.0;
if (ok)
{
size_t const expectedResponseLength = 8;
ok = (buf->dataLength == expectedResponseLength);
if (ok)
{
encoderEstimate = LoadLEFloat(buf->msg.raw);
if (makeReference)
{
referencePositions[thisDriveIdx] = encoderEstimate;
}
// Subtract reference value
if (subtractReference)
{
encoderEstimate = encoderEstimate - referencePositions[thisDriveIdx];
}
}
else
{
reply.printf("Unexpected response length: %d", buf->dataLength);
}
}
CanMessageBuffer::Free(buf);
if (newOne && !ok)
{
seenDrives[thisDriveIdx] = 0;
numSeenDrives--;
}
if (ok)
{
return {true, encoderEstimate};
}
return {};
}
#endif // DUAL_CAN
#if DUAL_CAN
GCodeResult HangprinterKinematics::ReadODrive3Encoder(DriverId const driver, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
HangprinterKinematics::ODriveAnswer const estimate = GetODrive3EncoderEstimate(driver, gb.Seen('S'), reply, true);
if (estimate.valid)
{
float directionCorrectedEncoderValue = estimate.value;
if (driver.boardAddress == 42 || driver.boardAddress == 43) // Driver direction is not stored on main board!! (will be in the future)
{
directionCorrectedEncoderValue *= -1.0;
}
reply.catf("%.2f, ", (double)(directionCorrectedEncoderValue * 360.0));
return GCodeResult::ok;
}
return GCodeResult::error;
}
#endif // DUAL_CAN
#if DUAL_CAN
GCodeResult HangprinterKinematics::SetODrive3TorqueModeInner(DriverId const driver, float const torque, const StringRef& reply) noexcept
{
// Get a buffer
CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply);
if (buf == nullptr)
{
return GCodeResult::error;
}
// Set the right target torque
buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_INPUT_TORQUE);
buf->dataLength = 4;
buf->remote = false;
memcpy(buf->msg.raw, &torque, sizeof(torque));
CanInterface::SendPlainMessageNoFree(buf);
// Enable Torque Control Mode
buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_CONTROLLER_MODES);
buf->dataLength = 8;
buf->remote = false;
buf->msg.raw32[0] = CANSimple::CONTROL_MODE_TORQUE_CONTROL;
buf->msg.raw32[1] = CANSimple::INPUT_MODE_PASSTHROUGH;
CanInterface::SendPlainMessageNoFree(buf);
CanMessageBuffer::Free(buf);
return GCodeResult::ok;
}
#endif // DUAL_CAN
#if DUAL_CAN
GCodeResult HangprinterKinematics::SetODrive3PosMode(DriverId const driver, const StringRef& reply) noexcept
{
HangprinterKinematics::ODriveAnswer const estimate = GetODrive3EncoderEstimate(driver, false, reply, false);
if (estimate.valid)
{
float const desiredPos = estimate.value;
CanMessageBuffer * buf = CanInterface::ODrive::PrepareSimpleMessage(driver, reply);
if (buf == nullptr)
{
return GCodeResult::error;
}
buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_INPUT_POS);
buf->dataLength = 8;
buf->remote = false;
memset(buf->msg.raw32, 0, buf->dataLength); // four last bytes are velocity and torque setpoints. Zero them.
memcpy(buf->msg.raw32, &desiredPos, sizeof(desiredPos));
CanInterface::SendPlainMessageNoFree(buf);
// Enable Position Control Mode
buf->id = CanInterface::ODrive::ArbitrationId(driver, CANSimple::MSG_SET_CONTROLLER_MODES);
buf->dataLength = 8;
buf->remote = false;
buf->msg.raw32[0] = CANSimple::CONTROL_MODE_POSITION_CONTROL;
buf->msg.raw32[1] = CANSimple::INPUT_MODE_PASSTHROUGH;
CanInterface::SendPlainMessageNoFree(buf);
CanMessageBuffer::Free(buf);
return GCodeResult::ok;
}
return GCodeResult::error;
}
#endif // DUAL_CAN
#if DUAL_CAN
GCodeResult HangprinterKinematics::SetODrive3TorqueMode(DriverId const driver, float torque, const StringRef& reply) noexcept
{
GCodeResult res = GCodeResult::ok;
constexpr double MIN_TORQUE_NM = 0.0001;
if (fabs(torque) < MIN_TORQUE_NM)
{
res = SetODrive3PosMode(driver, reply);
if (res == GCodeResult::ok)
{
reply.cat("pos_mode, ");
}
}
else
{
// Set the right sign
torque = std::abs(torque);
if (driver.boardAddress == 40 || driver.boardAddress == 41) // Driver direction is not stored on main board!! (will be in the future)
{
torque = -torque;
}
res = SetODrive3TorqueModeInner(driver, torque, reply);
if (res == GCodeResult::ok)
{
reply.catf("%.6f Nm, ", (double)torque);
}
}
return res;
}
#endif // DUAL_CAN
// End
|