Homing problem

README.md

@@ -1,107 +1,49 @@
-![GitHub Logo](/doc/media/Grbl Logo 250px.png)
-
+# grbl-polar
 
 ***
+Graffiti robot firmware base on [Grbl v0.9](https://github.com/grbl/grbl)
 
-Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328. 
+The implemented kinematics allow a 2 string + gravity system (as in [hektor](http://juerglehni.com/works/hektor)), and the pwm support allows triggering the spray using a servo-motor.
 
-The controller is written in highly optimized C utilizing every clever feature of the AVR-chips to achieve precise timing and asynchronous operation. It is able to maintain up to 30kHz of stable, jitter free control pulses.
+additional features:
+  * define POLAR: swaps from cartesian to polar kinematics. It's required to set up the distance between the motors. Homing at startup is essential, otherwisse positioning can not be achieved.
+  * define RC_SERVO: Use PIN D11 to drive the servo. Use the commands M03 Sxxx (xxx between 0 and 255) to rotate the servo between 0-180. The command M05 turns the servo to zero degrees. [source](https://github.com/robottini/grbl-servo)
+
+
+![alt text](https://github.com/ilaro-org/grbl-polar/blob/master/v0.jpg "first test at hangar.org")
 
-It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and most canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow.
 
-Grbl includes full acceleration management with look ahead. That means the controller will look up to 18 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
+##Flashing
 
-* [Licensing](https://github.com/grbl/grbl/wiki/Licensing): Grbl is free software, released under the GPLv3 license.
+To flash the grbl to arduino we did it through terminal. To compile the code:   
+
+    make clean
+    make grbl.hex
 
-* For more information and help, check out our **[Wiki pages!](https://github.com/grbl/grbl/wiki)** If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks!
+And to flash it:   
+
+    (AVRDUDE-PATH)/avrdude -C(AVRDUDE.CONF-PATH)/avrdude.conf -v -patmega328p -carduino -P/dev/(USB) -b(BAUTRATE) -D -Uflash:w:(GRBLPOLAR-PATH)/grbl.hex:i
+
+e.g:   
+
+    /home/Applications/arduino/hardware/tools/avr/bin/avrdude -C/home/Applications/arduino/hardware/tools/avr/etc/avrdude.conf -v -patmega328p -carduino -P/dev/ttyUSB0 -b57600 -D -Uflash:w:/POLAR/grbl-polar/grbl.hex:i 
 
-* Lead Developer [_2011 - Current_]: Sungeun(Sonny) K. Jeon, Ph.D. (USA) aka @chamnit
 
-* Lead Developer [_2009 - 2011_]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl.
+##Configuring Grbl-polar
+The Grbl-polar's configuration is the same as in [Grbl v0.9] (https://github.com/ilaro-org/grbl-polar/wiki/Configuring-Grbl-v0.9). But we have added a new setting: 'distance'. You can define it through the GUI settings or by the command line:   
 
-***
+     $27=1000 (distance, mm)
 
-### Official Supporters of the Grbl CNC Project
-![Official Supporters](https://dl.dropboxusercontent.com/u/2221997/Contributors.png)
+It defines the distance between the two motors and it is needed in order to achieve machine's positioning.
 
-***
+![alt text](https://github.com/ilaro-org/grbl-polar/blob/master/grbl-polar.JPG)
 
-_**Master Branch:**_
-* [Grbl v0.9j Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1I8Ey4S) _(2016-03-03)_
-  - **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9 :** 
-  - Baudrate is now **115200** (Up from 9600). 
-  - Homing cycle updated. Located based on switch trigger, rather than release point.
-  - Variable spindle is now enabled by default. Z-limit(D12) and spindle enable(D11) have switched to access the hardware PWM on D11. Homing will not work if you do not re-wire your Z-limit switch to D12.
+##Gcode
 
-_**Archives:**_
-* [Grbl v0.9i Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1EiviDk) 
-* [Grbl v0.9g Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1m8E1Qa) 
-* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE)
-* [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G)
-* [Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5)
-* [Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1)
-* [Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE)
-* [Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu)
+To generate the G-code you can use any slicing program and slice a vectorial drawing. We used Inkscape because it is opensource and you can do vectorial drawings and slice them directly with the [Laser Plug-In](https://jtechphotonics.com/?page_id=2012). You have to take into account when sittuating the drawing in the page that the center (0,0) of the robot is situated on the left motor.
 
+To send G-code to the robot we had used http://chilipeppr.com/grbl or [Universal G-code Sender](https://github.com/winder/Universal-G-Code-Sender)
 
-***
 
-##Update Summary for v0.9j
-  - **Restore EEPROM feature:** A new set of restore EEPROM features to help OEMs and users reset their Grbl installation to the build defaults. See Configuring Grbl Wiki for details.
-
-##Update Summary for v0.9i
-  - **IMPORTANT:**
-    - **Homing cycle updated. Locates based on trigger point, rather than release point.**
-    - **System tweaks: $14 cycle auto-start has been removed. No more QUEUE state.**
-  - **New G-Codes** 
-  - **CoreXY Support**
-  - **Safety Door Support**
-  - **Full Limit and Control Pin Configurability**
-  - **Additional Compile-Time Feature Options**
-
-##Update Summary for v0.9h from v0.8
-  - **IMPORTANT:**
-    - **Default serial baudrate is now 115200! (Up from 9600)**
-    - **Z-limit(D12) and spindle enable(D11) pins have switched to support variable spindle!**
-  - **Super Smooth Stepper Algorithm**
-  - **Stability and Robustness Updates**
-  - **(x4)+ Faster Planner**
-  - **Compile-able via Arduino IDE!**
-  - **G-Code Parser Overhaul**
-  - **Independent Acceleration and Velocity Settings**
-  - **Soft Limits**
-  - **Probing**
-  - **Dynamic Tool Length Offsets**
-  - **Improved Arc Performance**
-  - **CPU Pin Mapping**
-  - **New Grbl SIMULATOR! (by @jgeisler and @ashelly)**
-  - **Configurable Real-time Status Reporting**
-  - **Updated Homing Routine**
-  - **Optional Limit Pin Sharing**
-  - **Optional Variable Spindle Speed Output**
-  - **Additional Compile-Time Feature Options**
-
--
-``` 
-List of Supported G-Codes in Grbl v0.9 Master:
-  - Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
-  - Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
-  - Feed Rate Modes: G93, G94
-  - Unit Modes: G20, G21
-  - Distance Modes: G90, G91
-  - Arc IJK Distance Modes: G91.1
-  - Plane Select Modes: G17, G18, G19
-  - Tool Length Offset Modes: G43.1, G49
-  - Cutter Compensation Modes: G40
-  - Coordinate System Modes: G54, G55, G56, G57, G58, G59
-  - Control Modes: G61
-  - Program Flow: M0, M1, M2, M30*
-  - Coolant Control: M7*, M8, M9
-  - Spindle Control: M3, M4, M5
-  - Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
-```
-
--------------
-Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help fund supporting hardware and testing equipment. Thank you!
-
-[![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=CUGXJHXA36BYW)
+
+GPLv3 license

grbl/config.h

@@ -30,8 +30,28 @@
 #include "grbl.h" // For Arduino IDE compatibility.
 
 
+/* If POLAR is enabled the coordinates of the machine movement are changed to polar.
+ * To active this feature is required to know the distance (d) between the two motors
+ * 		___d___
+		\     /       |
+	x_pol\   / y_pol  | y
+		  \ /         |
+	   ___ +
+ *	    x
+ */
+#define POLAR
+
+//Segment straight lines to ensure linear movement when the coordinates system is changed
+#define SEGMENTED_LINES
+
+//Spindle is controled by a servo.Use the PIN D11 to drive the servo. Use the commands M03 Sxxx (xxx between 0 and 255)
+//to rotate the servo between 0-180. The command M05 turn the servo to zero degrees.
+#define RC_SERVO
+
 // Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
-#define DEFAULTS_GENERIC
+//#define DEFAULTS_GENERIC
+#define DEFAULTS_POLAR
+
 
 // Serial baud rate
 #define BAUD_RATE 115200
@@ -72,8 +92,8 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits 
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+#define HOMING_CYCLE_0 (1<<X_AXIS)                // REQUIRED: First move Z to clear workspace.
+//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
@@ -126,8 +146,8 @@
 #define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.
 
 // Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
-// analog pin 4. Only use this option if you require a second coolant control pin.
-// NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
+// analog pin 5. Only use this option if you require a second coolant control pin.
+// NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless.
 // #define ENABLE_M7 // Disabled by default. Uncomment to enable.
 
 // This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
@@ -157,14 +177,6 @@
 //   the CONTROL_INVERT_MASK definition in cpu_map.h files.
 // #define INVERT_ALL_CONTROL_PINS // Default disabled. Uncomment to enable.
 
-// Inverts select limit pin states based on the following mask. This effects all limit pin functions, 
-// such as hard limits and homing. However, this is different from overall invert limits setting. 
-// This build option will invert only the limit pins defined here, and then the invert limits setting
-// will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
-// normally-open(NO) and normally-closed(NC) switches installed on their machine.
-// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
-// #define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
-
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
 // NOTE: If VARIABLE_SPINDLE is enabled(default), this option has no effect as the PWM output and 
@@ -268,7 +280,7 @@
 // NOTE: BEWARE! The Arduino bootloader toggles the D13 pin when it powers up. If you flash Grbl with
 // a programmer (you can use a spare Arduino as "Arduino as ISP". Search the web on how to wire this.), 
 // this D13 LED toggling should go away. We haven't tested this though. Please report how it goes!
-// #define USE_SPINDLE_DIR_AS_ENABLE_PIN // Default disabled. Uncomment to enable.
+ //#define USE_SPINDLE_DIR_AS_ENABLE_PIN // Default disabled. Uncomment to enable.
 
 // With this enabled, Grbl sends back an echo of the line it has received, which has been pre-parsed (spaces
 // removed, capitalized letters, no comments) and is to be immediately executed by Grbl. Echoes will not be 

grbl/defaults.h

@@ -35,6 +35,11 @@
   #include "defaults/defaults_generic.h"
 #endif
 
+#ifdef DEFAULTS_POLAR
+  // Grbl generic default settings. Should work across different machines.
+  #include "defaults/defaults_polar.h"
+#endif
+
 #ifdef DEFAULTS_SHERLINE_5400
   // Description: Sherline 5400 mill with three NEMA 23 Keling  KL23H256-21-8B 185 oz-in stepper motors,
   // driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.

grbl/defaults/defaults_polar.h

@@ -0,0 +1,66 @@
+/*
+  defaults_generic.h - defaults settings configuration file
+  Part of Grbl
+
+  Copyright (c) 2012-2015 Sungeun K. Jeon
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/* The defaults.h file serves as a central default settings file for different machine
+   types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
+   here are supplied by users, so your results may vary. However, this should give you
+   a good starting point as you get to know your machine and tweak the settings for your
+   nefarious needs. */
+
+#ifndef defaults_h
+#define defaults_h
+
+  // Grbl generic default settings. Should work across different machines.
+  #define DEFAULT_X_STEPS_PER_MM 37.5
+  #define DEFAULT_Y_STEPS_PER_MM 37.5
+  #define DEFAULT_Z_STEPS_PER_MM 250.0
+  #define DEFAULT_X_MAX_RATE 5000.0 // mm/min
+  #define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
+  #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_X_MAX_TRAVEL 2000.0 // mm
+  #define DEFAULT_Y_MAX_TRAVEL 2000.0 // mm
+  #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_STEPPING_INVERT_MASK 0
+  #define DEFAULT_DIRECTION_INVERT_MASK 0
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 0 // msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
+  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
+  #define DEFAULT_REPORT_INCHES 0 // false
+  #define DEFAULT_INVERT_ST_ENABLE 0 // false
+  #define DEFAULT_INVERT_LIMIT_PINS 0 // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
+  #define DEFAULT_HOMING_ENABLE 1  // false
+  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+  #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 5000.0 // mm/min
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
+  #define DEFAULT_DISTANCE 740.0 // mm
+  #define DEFAULT_X_OFFSET 300.0 // mm
+  #define DEFAULT_Y_OFFSET 0.0 // mm
+  #define DEFAULT_Z_OFFSET 200.0 // mm
+
+#endif

grbl/gcode.c

@@ -40,7 +40,7 @@ parser_block_t gc_block;
 
 void gc_init() 
 {
-  memset(&gc_state, 0, sizeof(parser_state_t));
+  memset(&gc_state, 0, sizeof(gc_state));
 
   // Load default G54 coordinate system.
   if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { 
@@ -79,8 +79,8 @@ uint8_t gc_execute_line(char *line)
      executed after successful error-checking. The parser block struct also contains a block
      values struct, word tracking variables, and a non-modal commands tracker for the new 
      block. This struct contains all of the necessary information to execute the block. */
-
-  memset(&gc_block, 0, sizeof(parser_block_t)); // Initialize the parser block struct.
+     
+  memset(&gc_block, 0, sizeof(gc_block)); // Initialize the parser block struct.
   memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes
   uint8_t axis_command = AXIS_COMMAND_NONE;
   uint8_t axis_0, axis_1, axis_linear;
@@ -970,8 +970,12 @@ uint8_t gc_execute_line(char *line)
           #ifdef USE_LINE_NUMBERS
             mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_state.line_number);
           #else
+			#ifndef SEGMENTED_LINES
             mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
-          #endif
+			#else
+            mc_segmented_line(gc_state.position,gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
+            #endif
+		  #endif
           break;
         case MOTION_MODE_CW_ARC: 
           #ifdef USE_LINE_NUMBERS

grbl/grbl.h

@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "0.9j"
-#define GRBL_VERSION_BUILD "20160303"
+#define GRBL_VERSION_BUILD "20151218"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>