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@ -506,7 +506,9 @@ void stop(); |
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void get_available_commands(); |
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void get_available_commands(); |
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void process_next_command(); |
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void process_next_command(); |
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); |
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#if ENABLED(ARC_SUPPORT) |
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); |
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#endif |
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void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
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void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
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void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
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void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } |
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@ -2461,7 +2463,8 @@ inline void gcode_G0_G1() { |
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* G2: Clockwise Arc |
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* G2: Clockwise Arc |
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* G3: Counterclockwise Arc |
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* G3: Counterclockwise Arc |
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*/ |
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*/ |
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inline void gcode_G2_G3(bool clockwise) { |
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#if ENABLED(ARC_SUPPORT) |
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inline void gcode_G2_G3(bool clockwise) { |
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if (IsRunning()) { |
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if (IsRunning()) { |
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#if ENABLED(SF_ARC_FIX) |
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#if ENABLED(SF_ARC_FIX) |
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@ -2486,7 +2489,8 @@ inline void gcode_G2_G3(bool clockwise) { |
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refresh_cmd_timeout(); |
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refresh_cmd_timeout(); |
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} |
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} |
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} |
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} |
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#endif |
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/**
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/**
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* G4: Dwell S<seconds> or P<milliseconds> |
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* G4: Dwell S<seconds> or P<milliseconds> |
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@ -6484,7 +6488,7 @@ void process_next_command() { |
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break; |
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break; |
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// G2, G3
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// G2, G3
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#if DISABLED(SCARA) |
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#if ENABLED(ARC_SUPPORT) & DISABLED(SCARA) |
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case 2: // G2 - CW ARC
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case 2: // G2 - CW ARC
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case 3: // G3 - CCW ARC
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case 3: // G3 - CCW ARC
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gcode_G2_G3(codenum == 2); |
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gcode_G2_G3(codenum == 2); |
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@ -7423,7 +7427,8 @@ void prepare_move() { |
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set_current_to_destination(); |
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set_current_to_destination(); |
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} |
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} |
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/**
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#if ENABLED(ARC_SUPPORT) |
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/**
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* Plan an arc in 2 dimensions |
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* Plan an arc in 2 dimensions |
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* |
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* |
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* The arc is approximated by generating many small linear segments. |
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* The arc is approximated by generating many small linear segments. |
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@ -7432,11 +7437,11 @@ void prepare_move() { |
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* larger segments will tend to be more efficient. Your slicer should have |
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* larger segments will tend to be more efficient. Your slicer should have |
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* options for G2/G3 arc generation. In future these options may be GCode tunable. |
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* options for G2/G3 arc generation. In future these options may be GCode tunable. |
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*/ |
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*/ |
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void plan_arc( |
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void plan_arc( |
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float target[NUM_AXIS], // Destination position
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float target[NUM_AXIS], // Destination position
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float* offset, // Center of rotation relative to current_position
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float* offset, // Center of rotation relative to current_position
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uint8_t clockwise // Clockwise?
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uint8_t clockwise // Clockwise?
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) { |
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) { |
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float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), |
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float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), |
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center_X = current_position[X_AXIS] + offset[X_AXIS], |
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center_X = current_position[X_AXIS] + offset[X_AXIS], |
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@ -7563,7 +7568,8 @@ void plan_arc( |
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// motion control system might still be processing the action and the real tool position
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// motion control system might still be processing the action and the real tool position
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// in any intermediate location.
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// in any intermediate location.
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set_current_to_destination(); |
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set_current_to_destination(); |
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} |
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} |
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#endif |
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#if HAS_CONTROLLERFAN |
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#if HAS_CONTROLLERFAN |
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AnHardt
9 years ago