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This commit is contained in:
bdring
2020-11-09 14:49:22 -06:00
parent d3468b8c06
commit 469349872e
3 changed files with 34 additions and 6 deletions
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22
Grbl_Esp32/Custom/atc.cpp
View File

@@ -25,6 +25,10 @@
If you zero a tool on the work piece, all tools will use the delta determined by the
toolsetter to set the tool length offset.
TODO
If no tool has been zero'd use the offset from tool #1
*/
const int TOOL_COUNT = 4;
@@ -41,7 +45,7 @@ tool_t tool[TOOL_COUNT + 1]; // one setter, plus 4 tools
float top_of_z; // The highest Z position we can move around on
bool tool_setter_probing = false; // used to determine if current probe cycle is for the setter
int zeroed_tool_index = 0; // Which tool was zero'd on the work piece
int zeroed_tool_index = 1; // Which tool was zero'd on the work piece
uint8_t current_tool = 0;
@@ -86,8 +90,10 @@ bool user_tool_change(uint8_t new_tool) {
uint64_t spindle_spin_delay; // used to make sure spindle has fully spun down and up.
float saved_mpos[MAX_N_AXIS] = {}; // the position before the tool change
if (new_tool == current_tool) // if no change, we are done
if (new_tool == current_tool) { // if no change, we are done
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC existing tool requested:%d", new_tool);
return true;
}
if (new_tool > TOOL_COUNT) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Tool out of range:%d", new_tool);
@@ -113,7 +119,8 @@ bool user_tool_change(uint8_t new_tool) {
return_tool(current_tool);
if (new_tool == TOOL_SETTER_INDEX) { // 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");
current_tool = new_tool;
return true;
}
@@ -166,7 +173,6 @@ bool user_tool_change(uint8_t new_tool) {
void user_probe_notification() {
float probe_position[MAX_N_AXIS];
// https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G43_1
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe complete. Setter:%d", tool_setter_probing);
if (sys.state == State::Alarm) {
@@ -225,8 +231,10 @@ bool atc_tool_setter() {
tool[current_tool].offset[Z_AXIS] = probe_position[Z_AXIS]; // Get the Z height ...
if (zeroed_tool_index != 0) {
float tlo = tool[zeroed_tool_index].offset[Z_AXIS] - tool[current_tool].offset[Z_AXIS];
gc_exec_linef(false, "G43.1Z%0.3f", top_of_z); // raise up
float tlo = tool[current_tool].offset[Z_AXIS] - tool[zeroed_tool_index].offset[Z_AXIS];
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC Tool No:%d TLO:%0.3f", current_tool, tlo);
// https://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G43_1
gc_exec_linef(false, "G43.1Z%0.3f", tlo); // raise up
}
gc_exec_linef(false, "G53G0Z%0.3f", top_of_z); // raise up
@@ -252,6 +260,7 @@ bool set_ATC_open(bool open) {
format: a printf style string
*/
//void grbl_msg_sendf(uint8_t client, MsgLevel level, const char* format, ...);
void gc_exec_linef(bool sync_after, const char* format, ...) {
char loc_buf[100];
char* temp = loc_buf;
@@ -261,6 +270,7 @@ void gc_exec_linef(bool sync_after, const char* format, ...) {
va_copy(copy, arg);
size_t len = vsnprintf(NULL, 0, format, arg);
va_end(copy);
if (len >= sizeof(loc_buf)) {
temp = new char[len + 1];
if (temp == NULL) {

1
Grbl_Esp32/src/GCode.cpp
View File

@@ -1602,6 +1602,7 @@ Error gc_execute_line(char* line, uint8_t client) {
}
__attribute__((weak)) bool user_tool_change(uint8_t new_tool) {
return true;
}

17
Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_ATC.h
View File

@@ -78,6 +78,8 @@
#define Z_LIMIT_PIN GPIO_NUM_35
#define PROBE_PIN GPIO_NUM_34
// 4x Switch Input module in socket #2
#define PROBE2_PIN GPIO_NUM_2
//#define CONTROL_CYCLE_START_PIN GPIO_NUM_25
@@ -104,3 +106,18 @@
#define DEFAULT_X_STEPS_PER_MM 800
#define DEFAULT_Y_STEPS_PER_MM 800
#define DEFAULT_Z_STEPS_PER_MM 800
#define DEFAULT_X_MAX_RATE 2000
#define DEFAULT_Y_MAX_RATE 2000
#define DEFAULT_Z_MAX_RATE 2000
#define DEFAULT_Y_HOMING_MPOS 140
#define DEFAULT_Y_MAX_TRAVEL 140
#define DEFAULT_STE
#define DEFAULT_HOMING_ENABLE 1