Skip to content

Latest commit

 

History

History
159 lines (136 loc) · 5.79 KB

g-code.md

File metadata and controls

159 lines (136 loc) · 5.79 KB
Raw

PanoController Firmware Protocol

The plan is to eventually be as close as reasonably possible to G-code, but it's a little time consuming to figure out what the right codes should be so I'm going to wing it a little.

Example Program

; 3-photo pano at 60°
M17 G1 G91 (turn motors on, use relative move mode)
M116 P5 Q0.75 (wait up to 5 seconds for platform shake under 0.75°/s^2)
M240 P0.1 R0.5 (trigger shutter for 1/10s then wait for another 0.5s)
A60 (rotate by 90° to the right)
M116 P5 Q0.75
M240 P0.1 R0.5
A60
M116 P5 Q750
M240 P0.1 R0.5
G0 G28 (return quickly to home position)

(Need to work on the shutter command, I'd like to combine the zero-motion wait, shutter pulse length, shutter duration and post-processing wait in a single command if I can)

Coordinate System

The coordinate system is like used in 3D printers, different from CNC. The implemented ones are highlighted.

  • X: Cartesian Left-to-right (width)
  • A: Rotation around X axis (pitch)
  • Y: Cartesian Front-to-back (depth)
  • B: Rotation around Y axis (roll)
  • Z: Cartesian Low-to-high (height)
  • C: Rotation around Z axis (yaw)

Since the platform center is actually fixed, there are no movements available in the X, Y, Z or B directions, only A and C, but in the future the platform could be mobile and offer more degrees of freedom.

Units

  • Millimeters for distance (X, Y, Z). Note: standard G-Code could switch to inches via G20 and to mm via G21 but we don't have any distance operations yet.
  • ° (degrees) for rotation (A, B, C)
  • °/s for speed (M203)
  • °/s^2 for acceleration (M116, M202)
  • Seconds for duration (fractional to ms precision: 0.001)

Commands

Commands I think have to be supported, plus a few useful extras. Many of these are "sticky" including parameters (they apply to following lines until reset).

  • G0 A~ C~ - Move (rotate head) to position A C
    • sticky: A~ on the following line will continue to move in the same way
  • G1 A~ C~ F~ - Linear interpolation positioning with speed F, same as above. Note: F~ not implemented.
  • G4 S~/P~ - Dwell (pause) S seconds or P milliseconds
  • G28 A0 C0 - Move to origin via intermediate point.
  • G90 - Use absolute coordinate system (default): G90 G00 A10 C10
  • G91 - Use relative coordinate system: G90 G00 A10 C10
  • G92 A0 C0 - Set current position (A~ C~ would set it as offsets from home position)
  • G92.1 - Reset home position to 0
  • M0 S~/P~ - Pause and wait for button S seconds or P milliseconds
  • M1 S~/P~ - Pause if button pushed S seconds or P milliseconds
  • M2 or M30 - End of program
  • M17 - Turn on motors, reset origin
  • M18 - Turn off motors
  • M116 S~ Q~ - Zero-Motion wait up to S seconds to stabilize below Q °/s^2 (PanoController custom)
  • M202 A~ C~ - Set acceleration in °/s^2 for travel moves (M202 A360 C120)
  • M203 A~ C~ - Set max speed in °/s for travel moves (M203 A600 C100)
  • M240 S~ Q~ R~ - Shutter S seconds (Q0=short, Q1=long), post shutter delay R seconds
  • M320 - Acceleration on
  • M321 - Acceleration off (note that this reduces max speed also to protect the motor)

Queries

The response format, if there is a standard, is not yet clear to me.

  • M117 - Get Home position
OriginA=0.00
OriginC=0.00
  • M114 - Get current position
CurrentA=0.00
CurrentC=0.00
  • M115 - Get firmware version and capabilities
Version=2.2beta
Build=Nov  7 2017 23:29:56
BatteryMin=6.0
MaxSpeedA=600.00
MaxSpeedC=100.00
MaxAccelA=360.00
MaxAccelC=120.00
MaxDecelA=180.00
MaxDecelC=60.00
MovePrecisionA=0.0118
MovePrecisionC=0.0039
  • M503 P~ - Get current settings: 1 (motion config) + 2(battery) + 4 (camera shutter)
MotorsEnabled=false
MotionMode=0
CoordsMode=ABSOLUTE
SpeedMode=CONSTANT
SpeedA=60.00
SpeedC=10.00
AccelA=360.00
AccelC=120.00
DecelA=180.00
DecelC=60.00
Battery=7.40
ShutterConnected=false
FocusConnected=false

Miscellania

  • % - Program start / end marker
  • O~ - Program name or number
  • ; - Single line comment
  • (...) - Open/close comment
  • N~ - Program line number identifier

Should these be implemented ?

Just copying here some interesting commands from the 3d printer firmware.

  • G29 - automatic bed leveling, could be platform horizontal leveling for 0 elevation
  • M42 P~ S~ - change pin state (GPIO)
  • M70 - display message with optional timeout
  • M71 - display message and wait for button push with optional timeout
  • M73 P~ - set progress percentage (0-100)
  • M75 - start job timer
  • M76 - pause job timer
  • M77 - stop job timer
  • M85 S~ - idle shut down S seconds
  • M92 - set axis steps per unit (mm) same syntax as G92
  • M119 - get endstop status (if we add the vertical position marker)
  • M201 - set max acceleration for print moves
  • M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
  • M206 - set home offset
  • M215 - set steps for mm for each axis (could be used to set steps/degree)
  • M226 - Wait for pin state
  • M312 - log message
  • M906 - set motor current in mA (M906 S1 X1000 Y1000 Z1000) S~ auto current control on/off

References