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Update atc.cpp

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bdring
2020-11-13 12:56:32 -06:00
parent bc8c0945bb
commit 10ada413b3
1 changed files with 51 additions and 14 deletions
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59
Grbl_Esp32/Custom/atc.cpp
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@@ -35,6 +35,7 @@ const int TOOL_COUNT = 4;
const int ETS_INDEX = 0; // electronic tool setter index const int ETS_INDEX = 0; // electronic tool setter index
const float TOOL_GRAB_TIME = 0.25; // seconds. How long it takes to grab a tool const float TOOL_GRAB_TIME = 0.25; // seconds. How long it takes to grab a tool
const float RACK_SAFE_DIST = 25.0; // how far in front of rack is safe to move in X const float RACK_SAFE_DIST = 25.0; // how far in front of rack is safe to move in X
#define ATC_MANUAL_CHANGE_TIME 2000 // milliseconds ATC is open
typedef struct { typedef struct {
float mpos[MAX_N_AXIS]; // the pickup location in machine coords float mpos[MAX_N_AXIS]; // the pickup location in machine coords
@@ -54,6 +55,7 @@ void return_tool(uint8_t tool_num);
bool atc_ETS(); bool atc_ETS();
bool set_ATC_open(bool open); bool set_ATC_open(bool open);
void gc_exec_linef(bool sync_after, const char* format, ...); void gc_exec_linef(bool sync_after, const char* format, ...);
bool atc_manual_change();
void user_machine_init() { void user_machine_init() {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Machine Init"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Machine Init");
@@ -61,24 +63,24 @@ void user_machine_init() {
pinMode(ATC_RELEASE_PIN, OUTPUT); pinMode(ATC_RELEASE_PIN, OUTPUT);
// the tool setter // the tool setter
tool[ETS_INDEX].mpos[X_AXIS] = 5.0; tool[ETS_INDEX].mpos[X_AXIS] = 108;
tool[ETS_INDEX].mpos[Y_AXIS] = 130.0; tool[ETS_INDEX].mpos[Y_AXIS] = 292.0;
tool[ETS_INDEX].mpos[Z_AXIS] = -25.0; // Mpos before collet face triggers probe tool[ETS_INDEX].mpos[Z_AXIS] = -20.0; // Mpos before collet face triggers probe
tool[1].mpos[X_AXIS] = 35.0; tool[1].mpos[X_AXIS] = 150.0;
tool[1].mpos[Y_AXIS] = 130.0; tool[1].mpos[Y_AXIS] = 292.0;
tool[1].mpos[Z_AXIS] = -20.0; tool[1].mpos[Z_AXIS] = -20.0;
tool[2].mpos[X_AXIS] = 65.0; tool[2].mpos[X_AXIS] = 185.0;
tool[2].mpos[Y_AXIS] = 130.0; tool[2].mpos[Y_AXIS] = 292.0;
tool[2].mpos[Z_AXIS] = -20.0; tool[2].mpos[Z_AXIS] = -20.0;
tool[3].mpos[X_AXIS] = 95.0; tool[3].mpos[X_AXIS] = 220.0;
tool[3].mpos[Y_AXIS] = 130.0; tool[3].mpos[Y_AXIS] = 292.0;
tool[3].mpos[Z_AXIS] = -20.0; tool[3].mpos[Z_AXIS] = -20.0;
tool[4].mpos[X_AXIS] = 125.0; tool[4].mpos[X_AXIS] = 255.0;
tool[4].mpos[Y_AXIS] = 130.0; tool[4].mpos[Y_AXIS] = 292.0;
tool[4].mpos[Z_AXIS] = -20.0; tool[4].mpos[Z_AXIS] = -20.0;
top_of_z = limitsMaxPosition(Z_AXIS) - homing_pulloff->get(); top_of_z = limitsMaxPosition(Z_AXIS) - homing_pulloff->get();
@@ -183,6 +185,18 @@ void user_probe_notification() {
zeroed_tool_index = current_tool; zeroed_tool_index = current_tool;
} }
void user_defined_macro(uint8_t index) {
switch (index) {
case 0:
atc_manual_change();
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Undefined macro number:%d", index);
break;
}
}
// ============= Local functions ================== // ============= Local functions ==================
void go_above_tool(uint8_t tool_num) { void go_above_tool(uint8_t tool_num) {
@@ -252,6 +266,29 @@ bool set_ATC_open(bool open) {
return true; return true;
} }
bool atc_manual_change() {
// if (gc_state.modal.spindle != SpindleState::Disable) {
// grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Cannot use ATC with spindle on");
// }
if (sys.state != State::Idle) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC manual change only permitted in idle");
return false;
}
if (!set_ATC_open(true)) { // internally checks spindle state
return false;
}
vTaskDelay(ATC_MANUAL_CHANGE_TIME);
if (!set_ATC_open(false)) {
return false;
}
return true;
}
/* /*
Format and send gcode line with optional synchronization Format and send gcode line with optional synchronization
sync_after: Forces all buffered lines to be completed for line send sync_after: Forces all buffered lines to be completed for line send