frontend/settings/hardware_settings/motors.tsx
import React from "react";
import { BooleanMCUInputGroup } from "./boolean_mcu_input_group";
import { ToolTips, DeviceSetting } from "../../constants";
import { settingToggle } from "../../devices/actions";
import { NumericMCUInputGroup } from "./numeric_mcu_input_group";
import { MotorsProps } from "./interfaces";
import { Header } from "./header";
import { Collapse } from "@blueprintjs/core";
import { Xyz, McuParamName } from "farmbot";
import { SourceFwConfig } from "../../devices/interfaces";
import { calcMicrostepsPerMm } from "../../controls/move/direction_axes_props";
import { isTMCBoard } from "../firmware/firmware_hardware_support";
import { SingleSettingRow } from "./single_setting_row";
import { Highlight } from "../maybe_highlight";
import { SpacePanelHeader } from "./space_panel_header";
import { Col, Help, Row, ToggleButton } from "../../ui";
import { t } from "../../i18next_wrapper";
import { McuInputBox } from "./mcu_input_box";
import { getDefaultFwConfigValue, getModifiedClassName } from "./default_values";
import { floor, round } from "lodash";
export const calculateScale =
(sourceFwConfig: SourceFwConfig): Record<Xyz, number> => {
const getV = (key: McuParamName) => sourceFwConfig(key).value;
return {
x: calcMicrostepsPerMm(getV("movement_step_per_mm_x"),
getV("movement_microsteps_x")),
y: calcMicrostepsPerMm(getV("movement_step_per_mm_y"),
getV("movement_microsteps_y")),
z: calcMicrostepsPerMm(getV("movement_step_per_mm_z"),
getV("movement_microsteps_z")),
};
};
export function Motors(props: MotorsProps) {
const {
dispatch, settingsPanelState, sourceFwConfig, firmwareHardware, arduinoBusy,
showAdvanced,
} = props;
const enable2ndXMotor = sourceFwConfig("movement_secondary_motor_x");
const invert2ndXMotor = sourceFwConfig("movement_secondary_motor_invert_x");
const scale = calculateScale(sourceFwConfig);
const commonProps = {
dispatch,
sourceFwConfig,
arduinoBusy,
firmwareHardware,
showAdvanced,
};
const getDefault = getDefaultFwConfigValue(props.firmwareHardware);
return <Highlight className={"section"}
settingName={DeviceSetting.motors}>
<Header
expanded={settingsPanelState.motors}
title={DeviceSetting.motors}
panel={"motors"}
dispatch={dispatch} />
{settingsPanelState.motors &&
<Help customClass={"hw-warn"} text={ToolTips.HW_SETTINGS}
customIcon={"fa-exclamation-triangle"} />}
<Collapse isOpen={!!settingsPanelState.motors}>
<SpacePanelHeader />
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.maxSpeed}
tooltip={ToolTips.MAX_SPEED}
x={"movement_max_spd_x"}
y={"movement_max_spd_y"}
z={"movement_max_spd_z"}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z} />
<Highlight settingName={DeviceSetting.maxSpeedTowardHome}>
<Row>
<Col xs={8} className={"z-param-label"}>
<label>
{t(DeviceSetting.maxSpeedTowardHome)}
</label>
<Help
text={t(ToolTips.MAX_SPEED_Z_TOWARD_HOME, {
z: getDefault("movement_max_spd_z2") / scale.z
})} />
</Col>
<Col xs={4} className={"z-param-input low-pad"}>
<McuInputBox {...commonProps}
setting={"movement_max_spd_z2"}
scale={scale.z} />
</Col>
</Row>
</Highlight>
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.homingSpeed}
tooltip={ToolTips.HOME_SPEED}
advanced={true}
x={"movement_home_spd_x"}
y={"movement_home_spd_y"}
z={"movement_home_spd_z"}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z} />
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.minimumSpeed}
tooltip={ToolTips.MIN_SPEED}
x={"movement_min_spd_x"}
y={"movement_min_spd_y"}
z={"movement_min_spd_z"}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z} />
<Highlight settingName={DeviceSetting.minimumSpeedTowardHome}>
<Row>
<Col xs={8} className={"z-param-label"}>
<label>
{t(DeviceSetting.minimumSpeedTowardHome)}
</label>
<Help
text={t(ToolTips.MIN_SPEED_Z_TOWARD_HOME, {
z: getDefault("movement_min_spd_z2") / scale.z
})} />
</Col>
<Col xs={4} className={"z-param-input low-pad"}>
<McuInputBox {...commonProps}
setting={"movement_min_spd_z2"}
scale={scale.z} />
</Col>
</Row>
</Highlight>
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.accelerateFor}
tooltip={ToolTips.ACCELERATE_FOR}
x={"movement_steps_acc_dec_x"}
y={"movement_steps_acc_dec_y"}
z={"movement_steps_acc_dec_z"}
xScale={scale.x}
yScale={scale.y}
zScale={scale.z} />
<Highlight settingName={DeviceSetting.accelerateForTowardHome}>
<Row>
<Col xs={8} className={"z-param-label"}>
<label>
{t(DeviceSetting.accelerateForTowardHome)}
</label>
<Help
text={t(ToolTips.ACCELERATE_FOR_Z_TOWARD_HOME, {
z: getDefault("movement_steps_acc_dec_z2") / scale.z
})} />
</Col>
<Col xs={4} className={"z-param-input low-pad"}>
<McuInputBox {...commonProps}
setting={"movement_steps_acc_dec_z2"}
scale={scale.z} />
</Col>
</Row>
</Highlight>
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.stepsPerMm}
tooltip={ToolTips.STEPS_PER_MM}
x={"movement_step_per_mm_x"}
y={"movement_step_per_mm_y"}
z={"movement_step_per_mm_z"}
xScale={sourceFwConfig("movement_microsteps_x").value}
yScale={sourceFwConfig("movement_microsteps_y").value}
zScale={sourceFwConfig("movement_microsteps_z").value}
advanced={true}
float={false} />
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.microstepsPerStep}
tooltip={ToolTips.MICROSTEPS_PER_STEP}
warning={microstepWarning(sourceFwConfig)}
x={"movement_microsteps_x"}
y={"movement_microsteps_y"}
z={"movement_microsteps_z"}
advanced={true} />
<BooleanMCUInputGroup {...commonProps}
label={DeviceSetting.alwaysPowerMotors}
tooltip={ToolTips.ALWAYS_POWER_MOTORS}
x={"movement_keep_active_x"}
y={"movement_keep_active_y"}
z={"movement_keep_active_z"} />
<BooleanMCUInputGroup {...commonProps}
label={DeviceSetting.invertMotors}
tooltip={ToolTips.INVERT_MOTORS}
x={"movement_invert_motor_x"}
y={"movement_invert_motor_y"}
z={"movement_invert_motor_z"} />
{isTMCBoard(firmwareHardware) &&
<NumericMCUInputGroup {...commonProps}
label={DeviceSetting.motorCurrent}
tooltip={ToolTips.MOTOR_CURRENT}
x={"movement_motor_current_x"}
y={"movement_motor_current_y"}
z={"movement_motor_current_z"}
advanced={true}
inputMax={100}
toInput={motorCurrentMaToPercent}
fromInput={motorCurrentPercentToMa} />}
{isTMCBoard(firmwareHardware) &&
<BooleanMCUInputGroup {...commonProps}
label={DeviceSetting.quietMode}
tooltip={ToolTips.QUIET_MODE}
advanced={true}
x={"movement_axis_stealth_x"}
y={"movement_axis_stealth_y"}
z={"movement_axis_stealth_z"} />}
<SingleSettingRow settingType="button"
label={DeviceSetting.enable2ndXMotor}
advanced={true}
showAdvanced={showAdvanced}
modified={
getDefault("movement_secondary_motor_x") != enable2ndXMotor.value}
tooltip={t(ToolTips.ENABLE_X2_MOTOR, {
x2Motor: getDefault("movement_secondary_motor_x")
? t("enabled")
: t("disabled")
})}>
<ToggleButton dispatch={dispatch}
toggleValue={enable2ndXMotor.value}
dim={!enable2ndXMotor.consistent}
className={[
"no-float",
getModifiedClassName(
"movement_secondary_motor_x",
enable2ndXMotor.value,
firmwareHardware)].join(" ")}
disabled={arduinoBusy}
toggleAction={() => dispatch(
settingToggle("movement_secondary_motor_x", sourceFwConfig))} />
</SingleSettingRow>
<SingleSettingRow settingType="button"
label={DeviceSetting.invert2ndXMotor}
advanced={true}
showAdvanced={showAdvanced}
modified={
getDefault("movement_secondary_motor_invert_x") != invert2ndXMotor.value}
tooltip={t(ToolTips.INVERT_X2_MOTOR, {
x: getDefault("movement_secondary_motor_invert_x")
? t("enabled")
: t("disabled")
})}>
<ToggleButton dispatch={dispatch}
grayscale={!enable2ndXMotor.value}
toggleValue={invert2ndXMotor.value}
dim={!invert2ndXMotor.consistent}
className={[
"no-float",
getModifiedClassName(
"movement_secondary_motor_invert_x",
invert2ndXMotor.value,
firmwareHardware)].join(" ")}
disabled={arduinoBusy}
toggleAction={() => dispatch(
settingToggle("movement_secondary_motor_invert_x", sourceFwConfig))} />
</SingleSettingRow>
</Collapse>
</Highlight>;
}
const microstepWarning = (sourceFwConfig: SourceFwConfig) => ({
x: !!sourceFwConfig("movement_axis_stealth_x").value &&
sourceFwConfig("movement_microsteps_x").value != 1
? t(ToolTips.MICROSTEP_WARNING)
: undefined,
y: !!sourceFwConfig("movement_axis_stealth_y").value &&
sourceFwConfig("movement_microsteps_y").value != 1
? t(ToolTips.MICROSTEP_WARNING)
: undefined,
z: !!sourceFwConfig("movement_axis_stealth_z").value &&
sourceFwConfig("movement_microsteps_z").value != 1
? t(ToolTips.MICROSTEP_WARNING)
: undefined,
});
// calculated from L57 & L59 equations in `farmbot-arduino-firmware/src/TMC2130.cpp`
const EQ1_M = 0.032683964;
const EQ2_M = 0.018101888;
/** Convert an existing mA value to the percent of max current it will produce. */
export const motorCurrentMaToPercent = (mA: number) => {
let CS = EQ2_M * mA - 1;
if (CS < 16) { CS = EQ1_M * mA - 1; }
CS = Math.max(CS, 0) % 32;
const percent = round(CS / 32 * 100);
return percent;
};
/** Convert a desired percent of max current to a mA value that will produce it. */
export const motorCurrentPercentToMa = (percent: number) => {
const CS = percent / 100 * 32;
let mA = (CS + 1) / EQ2_M;
if (mA < 940) { mA = (CS + 1) / EQ1_M; }
mA = floor(mA);
return mA;
};