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/*
* Kinematics.h
*
* Created on: 24 Apr 2017
* Author: David
*/
#ifndef SRC_MOVEMENT_KINEMATICS_H_
#define SRC_MOVEMENT_KINEMATICS_H_
#include "GCodes/GCodeBuffer.h"
#include "Movement/BedProbing/RandomProbePointSet.h"
// Different types of kinematics we support. Each of these has a class to represent it.
// These must have the same numeric assignments as the K parameter of the M669 command, as documented in ???
enum class KinematicsType : uint8_t
{
cartesian = 0,
coreXY,
coreXZ,
linearDelta,
scara,
unknown // this one must be last!
};
// Different types of low-level motion we support
enum class MotionType : uint8_t
{
linear,
segmentFreeDelta
};
class Kinematics
{
public:
// Functions that must be defined in each derived class that implements a kinematics
// Return the name of the current kinematics.
// If 'forStatusReport' is true then the string must be the one for that kinematics expected by DuetWebControl and PanelDue.
// Otherwise it should be in a format suitable fore printing.
// For any new kinematics, the same string can be returned regardless of the parameter.
virtual const char *GetName(bool forStatusReport = false) const = 0;
// Set or report the parameters from a M665, M666 or M669 command
// If 'mCode' is an M-code used to set parameters for the current kinematics (which should only ever be 665, 666, 667 or 669)
// then search for parameters used to configure the current kinematics. if any are found, perform appropriate actions and return true.
// If errors were discovered while processing parameters, put an appropriate error message in 'reply' and set 'error' to true.
// If no relevant parameters are found, print the existing ones to 'reply' and return false.
// if 'mCode' does not apply to this kinematics, call the base class version of this function, which will print a suitable error message.
virtual bool SetOrReportParameters(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error);
// Convert Cartesian coordinates to motor positions measured in steps from reference position
// 'machinePos' is a set of axis and extruder positions to convert
// 'stepsPerMm' is as configured in M92. On a Scara or polar machine this would actually be steps per degree.
// 'numAxes' is the number of machine axes to convert, which will always be at least 3
// 'motorPos' is the output vector of motor positions
// Return true if successful, false if we were unable to convert
virtual bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numAxes, int32_t motorPos[]) const = 0;
// Convert motor positions (measured in steps from reference position) to Cartesian coordinates
// 'motorPos' is the input vector of motor positions
// 'stepsPerMm' is as configured in M92. On a Scara or polar machine this would actually be steps per degree.
// 'numDrives' is the number of machine drives to convert, which will always be at least 3
// 'machinePos' is the output set of converted axis and extruder positions
virtual void MotorStepsToCartesian(const int32_t motorPos[], const float stepsPerMm[], size_t numDrives, float machinePos[]) const = 0;
// Return true if the kinematics supports auto calibration based on bed probing.
// Normally returns false, but overridden for delta kinematics.
virtual bool SupportsAutoCalibration() const { return false; }
// Perform auto calibration. Override this implementation in kinematics that support it.
virtual void DoAutoCalibration(size_t numFactors, const RandomProbePointSet& probePoints, StringRef& reply)
pre(SupportsAutoCalibration()) { }
// Set the default parameters that are changed by auto calibration back to their defaults.
// Do nothing if auto calibration is not supported.
virtual void SetCalibrationDefaults() { }
// Write the parameters that are set by auto calibration to the config-override.g file, returning true if success
// Just return true if auto calibration is not supported.
virtual bool WriteCalibrationParameters(FileStore *f) const { return true; }
// Get the bed tilt fraction for the specified axis.
// Usually this is only relevant if we are auto calibrating the bed tilt, however you can also specify bed tilt manually if you wanted to.
virtual float GetTiltCorrection(size_t axis) const { return 0.0; }
// Return true if the specified XY position is reachable by the print head reference point.
// The default implementation assumes a rectangular reachable area, so it just used the bed dimensions give in the M208 commands.
virtual bool IsReachable(float x, float y) const;
// Limit the Cartesian position that the user wants to move to
// The default implementation just applies the rectangular limits set up by M208 to those axes that have been homed.
virtual void LimitPosition(float coords[], size_t numAxes, uint16_t axesHomed) const;
// Return the set of axes that must have been homed before bed probing is allowed
// The default implementation requires just X and Y, but some kinematics require additional axes to be homed (e.g. delta, CoreXZ)
virtual uint16_t AxesToHomeBeforeProbing() const { return (1 << X_AXIS) | (1 << Y_AXIS); }
// Return the initial Cartesian coordinates we assume after switching to this kinematics
virtual void GetAssumedInitialPosition(size_t numAxes, float positions[]) const;
// Override this one if any axes do not use the line motion (e.g. for segmentation-free delta motion)
virtual MotionType GetMotionType(size_t axis) const { return MotionType::linear; }
// Override the virtual destructor if your constructor allocates any dynamic memory
virtual ~Kinematics() { }
// Factory function to create a particular kinematics object and return a pointer to it.
// When adding new kinematics, you will need to extend this function to handle your new kinematics type.
static Kinematics *Create(KinematicsType k);
// Functions that return information held in this base class
KinematicsType GetKinematicsType() const { return type; }
bool UseSegmentation() const { return useSegmentation; }
bool UseRawG0() const { return useRawG0; }
float GetSegmentsPerSecond() const pre(UseSegmentation()) { return segmentsPerSecond; }
float GetMinSegmentLength() const pre(UseSegmentation()) { return minSegmentLength; }
protected:
// This constructor is used by derived classes that implement non-segmented linear motion
Kinematics(KinematicsType t);
// This constructor is used by derived classes that implement segmented linear motion
Kinematics(KinematicsType t, float segsPerSecond, float minSegLength, bool doUseRawG0);
float segmentsPerSecond; // if we are using segmentation, the target number of segments/second
float minSegmentLength; // if we are using segmentation, the minimum segment size
private:
bool useSegmentation; // true if we have to approximate linear movement using segmentation
bool useRawG0; // true if we normally use segmentation but we do not need to segment travel moves
KinematicsType type;
};
#endif /* SRC_MOVEMENT_KINEMATICS_H_ */
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