|
|
|
@ -506,7 +506,9 @@ void stop(); |
|
|
|
void get_available_commands(); |
|
|
|
void process_next_command(); |
|
|
|
|
|
|
|
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); |
|
|
|
#if ENABLED(ARC_SUPPORT) |
|
|
|
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); |
|
|
|
#endif |
|
|
|
|
|
|
|
void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
|
|
|
void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
|
|
|
@ -2461,7 +2463,8 @@ inline void gcode_G0_G1() { |
|
|
|
* G2: Clockwise Arc |
|
|
|
* G3: Counterclockwise Arc |
|
|
|
*/ |
|
|
|
inline void gcode_G2_G3(bool clockwise) { |
|
|
|
#if ENABLED(ARC_SUPPORT) |
|
|
|
inline void gcode_G2_G3(bool clockwise) { |
|
|
|
if (IsRunning()) { |
|
|
|
|
|
|
|
#if ENABLED(SF_ARC_FIX) |
|
|
|
@ -2486,7 +2489,8 @@ inline void gcode_G2_G3(bool clockwise) { |
|
|
|
|
|
|
|
refresh_cmd_timeout(); |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
/**
|
|
|
|
* G4: Dwell S<seconds> or P<milliseconds> |
|
|
|
@ -6484,7 +6488,7 @@ void process_next_command() { |
|
|
|
break; |
|
|
|
|
|
|
|
// G2, G3
|
|
|
|
#if DISABLED(SCARA) |
|
|
|
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA) |
|
|
|
case 2: // G2 - CW ARC
|
|
|
|
case 3: // G3 - CCW ARC
|
|
|
|
gcode_G2_G3(codenum == 2); |
|
|
|
@ -7423,7 +7427,8 @@ void prepare_move() { |
|
|
|
set_current_to_destination(); |
|
|
|
} |
|
|
|
|
|
|
|
/**
|
|
|
|
#if ENABLED(ARC_SUPPORT) |
|
|
|
/**
|
|
|
|
* Plan an arc in 2 dimensions |
|
|
|
* |
|
|
|
* The arc is approximated by generating many small linear segments. |
|
|
|
@ -7432,11 +7437,11 @@ void prepare_move() { |
|
|
|
* larger segments will tend to be more efficient. Your slicer should have |
|
|
|
* options for G2/G3 arc generation. In future these options may be GCode tunable. |
|
|
|
*/ |
|
|
|
void plan_arc( |
|
|
|
void plan_arc( |
|
|
|
float target[NUM_AXIS], // Destination position
|
|
|
|
float* offset, // Center of rotation relative to current_position
|
|
|
|
uint8_t clockwise // Clockwise?
|
|
|
|
) { |
|
|
|
) { |
|
|
|
|
|
|
|
float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), |
|
|
|
center_X = current_position[X_AXIS] + offset[X_AXIS], |
|
|
|
@ -7509,8 +7514,16 @@ void plan_arc( |
|
|
|
|
|
|
|
float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0; |
|
|
|
|
|
|
|
millis_t previous_ms = millis(); |
|
|
|
|
|
|
|
for (i = 1; i < segments; i++) { // Iterate (segments-1) times
|
|
|
|
|
|
|
|
millis_t now = millis(); |
|
|
|
if (now - previous_ms > 200UL) { |
|
|
|
previous_ms = now; |
|
|
|
idle(); |
|
|
|
} |
|
|
|
|
|
|
|
if (++count < N_ARC_CORRECTION) { |
|
|
|
// Apply vector rotation matrix to previous r_X / 1
|
|
|
|
r_new_Y = r_X * sin_T + r_Y * cos_T; |
|
|
|
@ -7563,7 +7576,8 @@ void plan_arc( |
|
|
|
// motion control system might still be processing the action and the real tool position
|
|
|
|
// in any intermediate location.
|
|
|
|
set_current_to_destination(); |
|
|
|
} |
|
|
|
} |
|
|
|
#endif |
|
|
|
|
|
|
|
#if HAS_CONTROLLERFAN |
|
|
|
|
|
|
|
|
Scott Lahteine
9 years ago