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bdring
2020-11-07 17:30:57 -06:00
parent 4f1c8c4f6f
commit 5376c4b75a
1 changed files with 30 additions and 93 deletions
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123
Grbl_Esp32/Custom/atc.cpp
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@@ -20,8 +20,7 @@
*/
const int TOOL_COUNT = 4;
const int TOOL_COUNT = 4;
const float TOOL_GRAB_TIME = 0.75; // seconds. How long it takes to grab a tool
// temporary struct....should maybe be a class
@@ -36,7 +35,7 @@ void go_above_tool(uint8_t tool_num);
void return_tool(uint8_t tool_num);
void atc_tool_setter();
bool set_ATC_open(bool open);
void gc_exec_linef(const char* format, bool sync_before, ...);
void gc_exec_linef(const char* format, bool sync_after, ...);
uint8_t current_tool = 0;
@@ -68,7 +67,6 @@ void machine_init() {
}
bool user_tool_change(uint8_t new_tool) {
char gcode_line[80];
bool spindle_was_on = false;
uint64_t spindle_spin_delay; // milliseconds
float saved_mpos[MAX_N_AXIS] = {};
@@ -87,9 +85,7 @@ bool user_tool_change(uint8_t new_tool) {
// is spindle on? Turn it off and determine when the spin down should be done.
if (gc_state.modal.spindle != SpindleState::Disable) {
spindle_was_on = true;
sprintf(gcode_line, "M5\r"); //
gc_execute_line(gcode_line, CLIENT_INPUT);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "ATC: %s", gcode_line);
gc_exec_linef("M5", false);
spindle_spin_delay = esp_timer_get_time() + (spindle_delay_spindown->get() * 1000.0); // When has spindle stopped
}
@@ -104,7 +100,6 @@ bool user_tool_change(uint8_t new_tool) {
// TODO Check for G91...might not matter in G53
go_above_tool(new_tool);
protocol_buffer_synchronize(); // wait for motion to complete
// if spindle was on has the spindle down period completed? If not wait.
if (spindle_was_on) {
@@ -114,42 +109,26 @@ bool user_tool_change(uint8_t new_tool) {
}
}
// open ATC
set_ATC_open(true);
set_ATC_open(true); // open ATC
// drop down to tool
sprintf(gcode_line, "G53G0Z%0.3f\r", tool[new_tool].mpos[Z_AXIS]); //
gc_execute_line(gcode_line, CLIENT_INPUT);
protocol_buffer_synchronize(); // wait for it
gc_exec_linef("G53G0Z%0.3f", true, tool[new_tool].mpos[Z_AXIS]); // drop down to tool
// Close ATC
set_ATC_open(false);
set_ATC_open(false); // Close ATC
// wait for grab to complete and settle
sprintf(gcode_line, "G4P%0.2f\r", TOOL_GRAB_TIME); //
gc_execute_line(gcode_line, CLIENT_INPUT);
// raise to top of Z
sprintf(gcode_line, "G53G0Z-1\r"); //
gc_execute_line(gcode_line, CLIENT_INPUT);
// move to X Y in front of tool
sprintf(gcode_line, "G53G0X%0.3fY%0.3f\r", tool[new_tool].mpos[X_AXIS], tool[new_tool].mpos[Y_AXIS] - 20.0); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G4P%0.2f", true, TOOL_GRAB_TIME); // wait for grab to complete and settle
gc_exec_linef("G53G0Z-1", false); // raise to top of Z
gc_exec_linef("G53G0X%0.3fY%0.3f", false, tool[new_tool].mpos[X_AXIS], tool[new_tool].mpos[Y_AXIS] - 20.0); // move to X Y in front of tool
current_tool = new_tool;
atc_tool_setter();
// is spindle on?
// was spindle on?
if (spindle_was_on) {
sprintf(gcode_line, "M3\r"); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("M3", false);
}
// return to saved mpos
sprintf(gcode_line, "G53G0X%0.3fY%0.3fZ%0.3f\r", saved_mpos[X_AXIS], saved_mpos[Y_AXIS], saved_mpos[Z_AXIS]); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0X%0.3fY%0.3fZ%0.3f", false, , saved_mpos[X_AXIS], saved_mpos[Y_AXIS], saved_mpos[Z_AXIS]); // return to saved mpos
// TODO wait for spinup
@@ -159,83 +138,44 @@ bool user_tool_change(uint8_t new_tool) {
// ============= Local functions ==================
void go_above_tool(uint8_t tool_num) {
char gcode_line[80];
//sprintf(gcode_line, "G53G0Z-1");
//gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0Z-1", false); // raise up
gc_exec_linef("G53G0X%0.3fY%0.3f", false, tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - 20.0); // move in front of tool
gc_exec_linef("G53G0Y%0.3f", false, tool[tool_num].mpos[Y_AXIS]); // Move over tool
// move in front
//sprintf(gcode_line, "G53G0X%0.3fY%0.3f\r", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - 20.0); //
//gc_execute_line(gcode_line, CLIENT_INPUT);
// Move over tool
// sprintf(gcode_line, "G53G0Y%0.3f\r", tool[tool_num].mpos[Y_AXIS]); //
// gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0Y%0.3f", true, tool[tool_num].mpos[Y_AXIS]); // Move over tool
}
void return_tool(uint8_t tool_num) {
char gcode_line[80];
if (tool_num == 0)
return;
go_above_tool(tool_num);
// drop down to tool
sprintf(gcode_line, "G53G0Z%0.3f\r", tool[tool_num].mpos[Z_AXIS]); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0Z%0.3f", true, tool[tool_num].mpos[Z_AXIS]); // drop down to tool
set_ATC_open(true); // open ATC
gc_exec_linef("G4P0.5", false); // wait
gc_exec_linef("G53G0Z-1", true); // raise up
set_ATC_open(false); // close ATC
// release tool
// open ATC
protocol_buffer_synchronize(); // wait for it
set_ATC_open(true);
// wait
sprintf(gcode_line, "G4P0.5\r"); //
gc_execute_line(gcode_line, CLIENT_INPUT);
// raise up
sprintf(gcode_line, "G53G0Z-1");
gc_execute_line(gcode_line, CLIENT_INPUT);
// close ATC
protocol_buffer_synchronize(); // wait for it
set_ATC_open(false);
// move forward
sprintf(gcode_line, "G53G0X%0.3fY%0.3f\r", tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - 20.0); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0X%0.3fY%0.3f", true, tool[tool_num].mpos[X_AXIS], tool[tool_num].mpos[Y_AXIS] - 20.0); // move forward
}
void atc_tool_setter() {
char gcode_line[80];
float print_position[MAX_N_AXIS];
go_above_tool(0);
// probe
sprintf(gcode_line, "G38.2F%0.3fZ%0.3f\r", 300.0, -15); //
gc_execute_line(gcode_line, CLIENT_INPUT);
protocol_buffer_synchronize();
// TODO Fast Probe...Slow Probe?
system_convert_array_steps_to_mpos(print_position, sys_probe_position);
gc_exec_linef("G38.2F%0.3fZ%0.3f", true, 300.0, -15); // probe
// TODO was probe successful?
// Get the Z height ...
tool[current_tool].offset[Z_AXIS] = print_position[Z_AXIS];
system_convert_array_steps_to_mpos(print_position, sys_probe_position);
tool[current_tool].offset[Z_AXIS] = print_position[Z_AXIS]; // Get the Z height ...
// raise up
sprintf(gcode_line, "G53G0Z-1");
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0Z-1", false); // raise up
// move forward
sprintf(gcode_line, "G53G0X%0.3fY%0.3f\r", tool[0].mpos[X_AXIS], tool[0].mpos[Y_AXIS] - 20.0); //
gc_execute_line(gcode_line, CLIENT_INPUT);
gc_exec_linef("G53G0X%0.3fY%0.3f", false, tool[0].mpos[X_AXIS], tool[0].mpos[Y_AXIS] - 20.0);
}
bool set_ATC_open(bool open) {
@@ -250,13 +190,10 @@ bool set_ATC_open(bool open) {
/*
Formats and sends a gcode line
char* format = a printf style string like "G0X%0.3fY0.3f"
bool sync_before. true = protocol_buffer_synchronize before gcode
*/
void gc_exec_linef(const char* format, bool sync_before, ...) {
void gc_exec_linef(const char* format, bool sync_after, ...) {
char loc_buf[100];
char* temp = loc_buf;
va_list arg;
@@ -272,14 +209,14 @@ void gc_exec_linef(const char* format, bool sync_before, ...) {
}
}
len = vsnprintf(temp, len + 1, format, arg);
// if (sync_before) {
// protocol_buffer_synchronize();
// }
gc_execute_line(temp, CLIENT_INPUT);
grbl_sendf(CLIENT_SERIAL, "[ATC GCode:%s]\r\n", temp);
//grbl_sendf(CLIENT_SERIAL, "[ATC GCode:%s]\r\n", temp);
va_end(arg);
if (temp != loc_buf) {
delete[] temp;
}
if (sync_after) {
protocol_buffer_synchronize();
}
}