bissen21/Marlin_Firmware
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Fixed some arc bugs

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This commit is contained in:
Erik van der Zalm
2011-11-06 19:37:12 +01:00
parent 76b3f805c0
commit 5cf349a24a
2 changed files with 12 additions and 114 deletions
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13
Marlin/motion_control.cpp
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@ -19,12 +19,8 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
//#include "motion_control.h"
#include "Configuration.h"
#include "Marlin.h"
//#include <util/delay.h>
//#include <math.h>
//#include <stdlib.h>
#include "stepper.h"
#include "planner.h"
@ -35,10 +31,10 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
{
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
SERIAL_ECHOLN("mc_arc.");
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float linear_travel = target[axis_linear] - position[axis_linear];
float extruder_travel = target[E_AXIS] - position[E_AXIS];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
@ -60,6 +56,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
*/
float theta_per_segment = angular_travel/segments;
float linear_per_segment = linear_travel/segments;
float extruder_per_segment = extruder_travel/segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
@ -90,7 +87,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[3];
float arc_target[4];
float sin_Ti;
float cos_Ti;
float r_axisi;
@ -99,6 +96,9 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
// Initialize the linear axis
arc_target[axis_linear] = position[axis_linear];
// Initialize the extruder axis
arc_target[E_AXIS] = position[E_AXIS];
for (i = 1; i<segments; i++) { // Increment (segments-1)
@ -122,6 +122,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], target[E_AXIS], feed_rate);
}