Merge pull request openpnp#1082 from markmaker/feature/advanced-motio…

…n-control--7 Feature / Advanced Motion Control - Update 7
markmaker · Dec 2, 2020 · e12b91a · e12b91a
2 parents 0b3969a + 2b85e8c
commit e12b91a
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Showing 4 changed files with 29 additions and 9 deletions.
diff --git a/src/main/java/org/openpnp/machine/reference/driver/AbstractMotionPlanner.java b/src/main/java/org/openpnp/machine/reference/driver/AbstractMotionPlanner.java
@@ -32,7 +32,6 @@
 
 import org.openpnp.gui.support.PropertySheetWizardAdapter;
 import org.openpnp.gui.support.Wizard;
-import org.openpnp.machine.reference.ActuatorInterlockMonitor;
 import org.openpnp.machine.reference.ReferenceHeadMountable;
 import org.openpnp.machine.reference.ReferenceMachine;
 import org.openpnp.machine.reference.axis.ReferenceControllerAxis;

diff --git a/src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java b/src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java
@@ -450,7 +450,14 @@ public void setGlobalOffsets(ReferenceMachine machine, AxesLocation axesLocation
                 ControllerAxis axis = axesLocation.getAxisByVariable(this, variable);
                 if (axis != null) {
                     if (hasVariable(command, variable)) {
-                        double coordinate = axesLocation.getCoordinate(axis, getUnits());
+                        double coordinate;
+                        if (axis.getType() == Type.Rotation) {
+                            // Never convert rotation to driver units.
+                            coordinate = axesLocation.getCoordinate(axis);
+                        }
+                        else {
+                            coordinate = axesLocation.getCoordinate(axis, getUnits());
+                        }
                         command = substituteVariable(command, variable, coordinate);
                         command = substituteVariable(command, variable+"L", 
                                 axis.getLetter());
@@ -582,8 +589,6 @@ public void moveTo(ReferenceHeadMountable hm, MoveToCommand move)
         Double feedRate = move.getFeedRatePerMinute();
         Double acceleration = move.getAccelerationPerSecond2();
         Double jerk = move.getJerkPerSecond3();
-        AxesLocation segment = move.getLocation0().motionSegmentTo(allAxesLocation);
-
         double driverDistance = movedAxesLocation.getEuclideanMetric(this, (axis) -> 
             movedAxesLocation.getLengthCoordinate(axis).convertToUnits(getUnits()).getValue() - axis.getDriverCoordinate()).third;
 
@@ -638,8 +643,14 @@ public void moveTo(ReferenceHeadMountable hm, MoveToCommand move)
                 // The move is definitely on. 
                 doesMove = true;
                 // TODO: discuss whether we should round to axis resolution here.
-                double coordinate = allAxesLocation.getLengthCoordinate(axis)
-                        .convertToUnits(getUnits()).getValue(); 
+                double coordinate;
+                if (axis.getType() == Type.Rotation) {
+                    // Never convert rotation to driver units.
+                    coordinate = allAxesLocation.getCoordinate(axis);
+                }
+                else {
+                    coordinate = allAxesLocation.getCoordinate(axis, getUnits());
+                }
                 double previousCoordinate = axis.getDriverCoordinate(); 
                 int direction = ((Double)coordinate).compareTo(previousCoordinate);
                 // Substitute the axis variables.
@@ -1182,7 +1193,13 @@ protected boolean processPositionReport(Line line) {
                 String variable = axis.getLetter(); 
                 String s = matcher.group(variable);
                 Double d = Double.valueOf(s);
-                position = position.put(new AxesLocation(axis, new Length(d, getUnits())));
+                if (axis.getType() == Type.Rotation) {
+                    // Rotation axis is not converted from driver units.
+                    position = position.put(new AxesLocation(axis, new Length(d, AxesLocation.getUnits())));
+                }
+                else {
+                    position = position.put(new AxesLocation(axis, new Length(d, getUnits())));
+                }
             }
             catch (IllegalArgumentException e) {
                 // Axis is not present in pattern. That's a warning, but might not be supported by controller, so we let it go. 

diff --git a/src/main/java/org/openpnp/machine/reference/driver/GcodeDriverSolutions.java b/src/main/java/org/openpnp/machine/reference/driver/GcodeDriverSolutions.java
@@ -465,7 +465,11 @@ public void setState(Solutions.State state) throws Exception {
                                 commandBuilt = "$H ; Home all axes";
                             }
                             else if (tinyG) {
-                                commandBuilt = "G28.2 ; Home all axes";
+                                commandBuilt = "G28.2 ";
+                                for (String variable : gcodeDriver.getAxisVariables(machine)) {
+                                    commandBuilt += variable+"0 "; // In TinyG you need to indicate the axis and only 0 is possible. 
+                                }
+                                commandBuilt += "; Home all axes";
                             }
                             else {
                                 commandBuilt = "G28 ; Home all axes";

diff --git a/src/main/java/org/openpnp/model/Solutions.java b/src/main/java/org/openpnp/model/Solutions.java
@@ -65,7 +65,7 @@ public enum Severity {
         Warning(new Color(255, 220, 157)),
         Error(new Color(255, 157, 157)),
         None(new Color(255, 255, 255)), 
-        Fundamental(new Color(255, 157, 157));
+        Fundamental(new Color(200, 220, 255));
 
         private Color color;