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🐛 Fix G2/G3 angular motion calculation (#22407)

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Yash 2021-07-20 14:51:41 -05:00 committed by Scott Lahteine
parent c944e4fc60
commit 40b99d8084
1 changed files with 9 additions and 6 deletions
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15
Marlin/src/gcode/motion/G2_G3.cpp
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@ -83,12 +83,13 @@ void plan_arc(
#endif #endif
// Angle of rotation between position and target from the circle center. // Angle of rotation between position and target from the circle center.
float angular_travel; float angular_travel, abs_angular_travel;
// Do a full circle if starting and ending positions are "identical" // Do a full circle if starting and ending positions are "identical"
if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) { if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
// Preserve direction for circles // Preserve direction for circles
angular_travel = clockwise ? -RADIANS(360) : RADIANS(360); angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
abs_angular_travel = RADIANS(360);
} }
else { else {
// Calculate the angle // Calculate the angle
@ -103,8 +104,10 @@ void plan_arc(
case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction. case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
} }
abs_angular_travel = ABS(angular_travel);
#ifdef MIN_ARC_SEGMENTS #ifdef MIN_ARC_SEGMENTS
min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360)); min_segments = CEIL(min_segments * abs_angular_travel / RADIANS(360));
NOLESS(min_segments, 1U); NOLESS(min_segments, 1U);
#endif #endif
} }
@ -117,8 +120,8 @@ void plan_arc(
#endif #endif
// If circling around... // If circling around...
if (ENABLED(ARC_P_CIRCLES) && circles) { if (TERN0(ARC_P_CIRCLES, circles)) {
const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder const float total_angular = abs_angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
#if HAS_Z_AXIS #if HAS_Z_AXIS
@ -138,8 +141,8 @@ void plan_arc(
TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e); TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
} }
const float flat_mm = radius * angular_travel, const float flat_mm = radius * abs_angular_travel,
mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm); mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) flat_mm;
if (mm_of_travel < 0.001f) return; if (mm_of_travel < 0.001f) return;
const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);