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Optimize shortest ATC path

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bdring
2020-11-15 21:30:43 -06:00
parent 0c1fb75744
commit 41faacdef9
1 changed files with 24 additions and 8 deletions
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32
Grbl_Esp32/Custom/atc.cpp
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@@ -119,7 +119,8 @@ bool user_tool_change(uint8_t new_tool) {
// spindle could have been turned off in gcode before M6 // spindle could have been turned off in gcode before M6
spindle_spin_delay = esp_timer_get_time() + (spindle_delay_spindown->get() * 1000.0); // When will spindle spindown be done. spindle_spin_delay = esp_timer_get_time() + (spindle_delay_spindown->get() * 1000.0); // When will spindle spindown be done.
return_tool(current_tool); return_tool(current_tool); // does nothing if we have no tool
current_tool = 0;
if (new_tool == 0) { // if changing to tool 0...we are done. if (new_tool == 0) { // if changing to tool 0...we are done.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Changed to tool 0"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Changed to tool 0");
@@ -139,11 +140,15 @@ bool user_tool_change(uint8_t new_tool) {
set_ATC_open(false); // Close ATC set_ATC_open(false); // Close ATC
gc_exec_linef(true, "G4P%0.2f", TOOL_GRAB_TIME); // wait for grab to complete and settle gc_exec_linef(true, "G4P%0.2f", TOOL_GRAB_TIME); // wait for grab to complete and settle
gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel
// move in front of tool
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[new_tool].mpos[X_AXIS], tool[new_tool].mpos[Y_AXIS] - RACK_SAFE_DIST);
current_tool = new_tool; current_tool = new_tool;
// if current tool = 1 it is safe to go straight the the ETS
if (current_tool != 1) {
// move in front of tool
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[new_tool].mpos[X_AXIS], tool[new_tool].mpos[Y_AXIS] - RACK_SAFE_DIST);
}
if (!atc_ETS()) { // check the length of the tool if (!atc_ETS()) { // check the length of the tool
return false; return false;
} }
@@ -201,9 +206,13 @@ void user_defined_macro(uint8_t index) {
void go_above_tool(uint8_t tool_num) { void go_above_tool(uint8_t tool_num) {
gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel
// move in front of tool
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - RACK_SAFE_DIST); if (current_tool != 0) {
gc_exec_linef(true, "G53G0Y%0.3f", tool[tool_num].mpos[Y_AXIS]); // Move over tool // move in front of tool
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - RACK_SAFE_DIST);
}
gc_exec_linef(true, "G53G0X%0.3fY%0.3f", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS]); // Move over tool
} }
void return_tool(uint8_t tool_num) { void return_tool(uint8_t tool_num) {
@@ -216,14 +225,21 @@ void return_tool(uint8_t tool_num) {
gc_exec_linef(false, "G4P0.5"); // wait gc_exec_linef(false, "G4P0.5"); // wait
gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // Go to top of Z travel
set_ATC_open(false); // close ATC set_ATC_open(false); // close ATC
gc_exec_linef(true, "G53G0X%0.3fY%0.3f", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - RACK_SAFE_DIST); // move forward
//gc_exec_linef(true, "G53G0X%0.3fY%0.3f", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - RACK_SAFE_DIST); // move forward
} }
bool atc_ETS() { bool atc_ETS() {
float probe_to; // Calculated work position float probe_to; // Calculated work position
float probe_position[MAX_N_AXIS]; float probe_position[MAX_N_AXIS];
go_above_tool(0); if (current_tool != 1) {
// move in front of tool
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[current_tool].mpos[X_AXIS], tool[current_tool].mpos[Y_AXIS] - RACK_SAFE_DIST);
gc_exec_linef(false, "G53G0X%0.3fY%0.3f", tool[ETS_INDEX].mpos[X_AXIS], tool[ETS_INDEX].mpos[Y_AXIS] - RACK_SAFE_DIST);
}
gc_exec_linef(true, "G53G0X%0.3fY%0.3f", tool[ETS_INDEX].mpos[X_AXIS], tool[ETS_INDEX].mpos[Y_AXIS]); // Move over tool
float wco = gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS] + gc_state.tool_length_offset; float wco = gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS] + gc_state.tool_length_offset;
probe_to = tool[ETS_INDEX].mpos[Z_AXIS] - wco; probe_to = tool[ETS_INDEX].mpos[Z_AXIS] - wco;