⚡️ Improve G2/G3 arc handling (#22599)
This commit is contained in:
Scott Lahteine
Scott Lahteine
parent
53df1dfe4d
commit
796309c903
@ -2052,20 +2052,23 @@
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//
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// G2/G3 Arc Support
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//
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#define ARC_SUPPORT // Disable this feature to save ~3226 bytes
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#define ARC_SUPPORT // Requires ~3226 bytes
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#if ENABLED(ARC_SUPPORT)
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#define MM_PER_ARC_SEGMENT 1 // (mm) Length (or minimum length) of each arc segment
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//#define ARC_SEGMENTS_PER_R 1 // Max segment length, MM_PER = Min
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#define MIN_ARC_SEGMENTS 24 // Minimum number of segments in a complete circle
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//#define ARC_SEGMENTS_PER_SEC 50 // Use feedrate to choose segment length (with MM_PER_ARC_SEGMENT as the minimum)
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#define MIN_ARC_SEGMENT_MM 0.1 // (mm) Minimum length of each arc segment
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#define MAX_ARC_SEGMENT_MM 1.0 // (mm) Maximum length of each arc segment
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#define MIN_CIRCLE_SEGMENTS 72 // Minimum number of segments in a complete circle
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//#define ARC_SEGMENTS_PER_SEC 50 // Use the feedrate to choose the segment length
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#define N_ARC_CORRECTION 25 // Number of interpolated segments between corrections
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//#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles
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//#define CNC_WORKSPACE_PLANES // Allow G2/G3 to operate in XY, ZX, or YZ planes
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//#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure
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#endif
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// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
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//#define BEZIER_CURVE_SUPPORT
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// G5 Bézier Curve Support with XYZE destination and IJPQ offsets
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//#define BEZIER_CURVE_SUPPORT // Requires ~2666 bytes
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#if EITHER(ARC_SUPPORT, BEZIER_CURVE_SUPPORT)
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//#define CNC_WORKSPACE_PLANES // Allow G2/G3/G5 to operate in XY, ZX, or YZ planes
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#endif
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/**
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* Direct Stepping
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@ -260,6 +260,7 @@
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#define CODE_3( A,B,C,...) A; B; C
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#define CODE_2( A,B,...) A; B
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#define CODE_1( A,...) A
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#define CODE_0(...)
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#define _CODE_N(N,V...) CODE_##N(V)
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#define CODE_N(N,V...) _CODE_N(N,V)
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@ -279,6 +280,7 @@
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#define GANG_3( A,B,C,...) A B C
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#define GANG_2( A,B,...) A B
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#define GANG_1( A,...) A
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#define GANG_0(...)
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#define _GANG_N(N,V...) GANG_##N(V)
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#define GANG_N(N,V...) _GANG_N(N,V)
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#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
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@ -136,7 +136,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command() {
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}
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/**
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* Set XYZE destination and feedrate from the current GCode command
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* Set XYZIJKE destination and feedrate from the current GCode command
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*
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* - Set destination from included axis codes
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* - Set to current for missing axis codes
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@ -71,7 +71,7 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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#endif
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#endif
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get_destination_from_command(); // Get X Y Z E F (and set cutter power)
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get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
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#ifdef G0_FEEDRATE
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if (fast_move) {
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@ -39,14 +39,21 @@
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#undef N_ARC_CORRECTION
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#define N_ARC_CORRECTION 1
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#endif
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#ifndef MIN_CIRCLE_SEGMENTS
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#define MIN_CIRCLE_SEGMENTS 72 // 5° per segment
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#endif
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#if !defined(MAX_ARC_SEGMENT_MM) && defined(MIN_ARC_SEGMENT_MM)
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#define MAX_ARC_SEGMENT_MM MIN_ARC_SEGMENT_MM
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#elif !defined(MIN_ARC_SEGMENT_MM) && defined(MAX_ARC_SEGMENT_MM)
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#define MIN_ARC_SEGMENT_MM MAX_ARC_SEGMENT_MM
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#endif
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#define ARC_LIJK_CODE(L,I,J,K) CODE_N(SUB2(LINEAR_AXES),L,I,J,K)
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#define ARC_LIJKE_CODE(L,I,J,K,E) ARC_LIJK_CODE(L,I,J,K); CODE_ITEM_E(E)
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/**
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* Plan an arc in 2 dimensions, with optional linear motion in a 3rd dimension
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*
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* The arc is traced by generating many small linear segments, as configured by
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* MM_PER_ARC_SEGMENT (Default 1mm). In the future we hope more slicers will include
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* an option to generate G2/G3 arcs for curved surfaces, as this will allow faster
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* boards to produce much smoother curved surfaces.
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* Plan an arc in 2 dimensions, with linear motion in the other axes.
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* The arc is traced with many small linear segments according to the configuration.
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*/
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void plan_arc(
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const xyze_pos_t &cart, // Destination position
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@ -55,41 +62,45 @@ void plan_arc(
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const uint8_t circles // Take the scenic route
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) {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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AxisEnum p_axis, q_axis, l_axis;
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AxisEnum axis_p, axis_q, axis_l;
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switch (gcode.workspace_plane) {
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default:
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case GcodeSuite::PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
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case GcodeSuite::PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
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case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
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case GcodeSuite::PLANE_XY: axis_p = X_AXIS; axis_q = Y_AXIS; axis_l = Z_AXIS; break;
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case GcodeSuite::PLANE_YZ: axis_p = Y_AXIS; axis_q = Z_AXIS; axis_l = X_AXIS; break;
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case GcodeSuite::PLANE_ZX: axis_p = Z_AXIS; axis_q = X_AXIS; axis_l = Y_AXIS; break;
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}
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#else
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constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS);
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constexpr AxisEnum axis_p = X_AXIS, axis_q = Y_AXIS OPTARG(HAS_Z_AXIS, axis_l = Z_AXIS);
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#endif
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// Radius vector from center to current location
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ab_float_t rvec = -offset;
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const float radius = HYPOT(rvec.a, rvec.b),
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center_P = current_position[p_axis] - rvec.a,
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center_Q = current_position[q_axis] - rvec.b,
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rt_X = cart[p_axis] - center_P,
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rt_Y = cart[q_axis] - center_Q
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OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]);
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center_P = current_position[axis_p] - rvec.a,
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center_Q = current_position[axis_q] - rvec.b,
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rt_X = cart[axis_p] - center_P,
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rt_Y = cart[axis_q] - center_Q;
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#ifdef MIN_ARC_SEGMENTS
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uint16_t min_segments = MIN_ARC_SEGMENTS;
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#else
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constexpr uint16_t min_segments = 1;
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#endif
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ARC_LIJK_CODE(
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const float start_L = current_position[axis_l],
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const float start_I = current_position.i,
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const float start_J = current_position.j,
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const float start_K = current_position.k
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);
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// Angle of rotation between position and target from the circle center.
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float angular_travel, abs_angular_travel;
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// Minimum number of segments in an arc move
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uint16_t min_segments = 1;
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// Do a full circle if starting and ending positions are "identical"
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if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
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if (NEAR(current_position[axis_p], cart[axis_p]) && NEAR(current_position[axis_q], cart[axis_q])) {
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// Preserve direction for circles
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angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
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abs_angular_travel = RADIANS(360);
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min_segments = MIN_CIRCLE_SEGMENTS;
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}
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else {
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// Calculate the angle
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@ -106,61 +117,90 @@ void plan_arc(
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abs_angular_travel = ABS(angular_travel);
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#ifdef MIN_ARC_SEGMENTS
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min_segments = CEIL(min_segments * abs_angular_travel / RADIANS(360));
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NOLESS(min_segments, 1U);
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#endif
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// Apply minimum segments to the arc
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const float portion_of_circle = abs_angular_travel / RADIANS(360); // Portion of a complete circle (0 < N < 1)
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min_segments = CEIL((MIN_CIRCLE_SEGMENTS) * portion_of_circle); // Minimum segments for the arc
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}
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#if HAS_Z_AXIS
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float linear_travel = cart[l_axis] - start_L;
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#endif
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#if HAS_EXTRUDERS
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float extruder_travel = cart.e - current_position.e;
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#endif
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ARC_LIJKE_CODE(
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float travel_L = cart[axis_l] - start_L,
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float travel_I = cart.i - start_I,
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float travel_J = cart.j - start_J,
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float travel_K = cart.k - start_K,
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float travel_E = cart.e - current_position.e
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);
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// If circling around...
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// If "P" specified circles, call plan_arc recursively then continue with the rest of the arc
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if (TERN0(ARC_P_CIRCLES, circles)) {
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const float total_angular = abs_angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
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part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
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#if HAS_Z_AXIS
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const float l_per_circle = linear_travel * part_per_circle; // L movement per circle
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#endif
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#if HAS_EXTRUDERS
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const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle
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#endif
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ARC_LIJKE_CODE(
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const float per_circle_L = travel_L * part_per_circle, // L movement per circle
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const float per_circle_I = travel_I * part_per_circle,
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const float per_circle_J = travel_J * part_per_circle,
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const float per_circle_K = travel_K * part_per_circle,
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const float per_circle_E = travel_E * part_per_circle // E movement per circle
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);
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xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
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xyze_pos_t temp_position = current_position;
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for (uint16_t n = circles; n--;) {
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TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis
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TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle); // Destination L axis
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ARC_LIJKE_CODE( // Destination Linear Axes
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temp_position[axis_l] += per_circle_L,
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temp_position.i += per_circle_I,
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temp_position.j += per_circle_J,
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temp_position.k += per_circle_K,
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temp_position.e += per_circle_E // Destination E axis
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);
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plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
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}
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TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]);
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TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
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ARC_LIJKE_CODE(
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travel_L = cart[axis_l] - current_position[axis_l],
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travel_I = cart.i - current_position.i,
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travel_J = cart.j - current_position.j,
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travel_K = cart.k - current_position.k,
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travel_E = cart.e - current_position.e
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);
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}
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const float flat_mm = radius * abs_angular_travel,
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mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) flat_mm;
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if (mm_of_travel < 0.001f) return;
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// Millimeters in the arc, assuming it's flat
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const float flat_mm = radius * abs_angular_travel;
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// Return if the move is near zero
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if (flat_mm < 0.0001f
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GANG_N(SUB2(LINEAR_AXES),
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&& travel_L < 0.0001f,
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&& travel_I < 0.0001f,
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&& travel_J < 0.0001f,
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&& travel_K < 0.0001f
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)
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) return;
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// Feedrate for the move, scaled by the feedrate multiplier
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const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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// Start with a nominal segment length
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float seg_length = (
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#ifdef ARC_SEGMENTS_PER_R
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constrain(MM_PER_ARC_SEGMENT * radius, MM_PER_ARC_SEGMENT, ARC_SEGMENTS_PER_R)
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#elif ARC_SEGMENTS_PER_SEC
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_MAX(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MM_PER_ARC_SEGMENT)
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// Get the nominal segment length based on settings
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const float nominal_segment_mm = (
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#if ARC_SEGMENTS_PER_SEC // Length based on segments per second and feedrate
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constrain(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM)
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#else
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MM_PER_ARC_SEGMENT
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MAX_ARC_SEGMENT_MM // Length using the maximum segment size
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#endif
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);
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// Divide total travel by nominal segment length
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uint16_t segments = FLOOR(mm_of_travel / seg_length);
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NOLESS(segments, min_segments); // At least some segments
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seg_length = mm_of_travel / segments;
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// Number of whole segments based on the nominal segment length
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const float nominal_segments = _MAX(FLOOR(flat_mm / nominal_segment_mm), min_segments);
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// A new segment length based on the required minimum
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const float segment_mm = constrain(flat_mm / nominal_segments, MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM);
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// The number of whole segments in the arc, ignoring the remainder
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uint16_t segments = FLOOR(flat_mm / segment_mm);
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// Are the segments now too few to reach the destination?
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const float segmented_length = segment_mm * segments;
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const bool tooshort = segmented_length < flat_mm - 0.0001f;
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const float proportion = tooshort ? segmented_length / flat_mm : 1.0f;
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/**
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* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
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@ -190,26 +230,36 @@ void plan_arc(
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*/
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// Vector rotation matrix values
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xyze_pos_t raw;
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const float theta_per_segment = angular_travel / segments,
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const float theta_per_segment = proportion * angular_travel / segments,
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sq_theta_per_segment = sq(theta_per_segment),
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sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
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cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
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#if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL)
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const float linear_per_segment = linear_travel / segments;
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#endif
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#if HAS_EXTRUDERS
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const float extruder_per_segment = extruder_travel / segments;
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#if DISABLED(AUTO_BED_LEVELING_UBL)
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ARC_LIJK_CODE(
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const float per_segment_L = proportion * travel_L / segments,
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const float per_segment_I = proportion * travel_I / segments,
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const float per_segment_J = proportion * travel_J / segments,
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const float per_segment_K = proportion * travel_K / segments
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);
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#endif
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// Initialize the linear axis
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TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]);
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CODE_ITEM_E(const float extruder_per_segment = proportion * travel_E / segments);
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// Initialize the extruder axis
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TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
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// For shortened segments, run all but the remainder in the loop
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if (tooshort) segments++;
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// Initialize all linear axes and E
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ARC_LIJKE_CODE(
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raw[axis_l] = current_position[axis_l],
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raw.i = current_position.i,
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raw.j = current_position.j,
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raw.k = current_position.k,
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raw.e = current_position.e
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);
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float inv_duration = scaled_fr_mm_s / seg_length;
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const float inv_duration = scaled_fr_mm_s / segment_mm;
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#endif
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millis_t next_idle_ms = millis() + 200UL;
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@ -221,8 +271,9 @@ void plan_arc(
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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if (ELAPSED(millis(), next_idle_ms)) {
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next_idle_ms = millis() + 200UL;
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const millis_t ms = millis();
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if (ELAPSED(ms, next_idle_ms)) {
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next_idle_ms = ms + 200UL;
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idle();
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}
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@ -250,13 +301,16 @@ void plan_arc(
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}
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// Update raw location
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raw[p_axis] = center_P + rvec.a;
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raw[q_axis] = center_Q + rvec.b;
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#if HAS_Z_AXIS
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raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment);
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raw[axis_p] = center_P + rvec.a;
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raw[axis_q] = center_Q + rvec.b;
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ARC_LIJKE_CODE(
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K
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#else
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raw[axis_l] += per_segment_L, raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K
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#endif
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TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
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, raw.e += extruder_per_segment
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);
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apply_motion_limits(raw);
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@ -264,14 +318,15 @@ void plan_arc(
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planner.apply_leveling(raw);
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#endif
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if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
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OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
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)) break;
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if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)))
|
||||
break;
|
||||
}
|
||||
|
||||
// Ensure last segment arrives at target location.
|
||||
raw = cart;
|
||||
TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K);
|
||||
#endif
|
||||
|
||||
apply_motion_limits(raw);
|
||||
|
||||
@ -279,11 +334,11 @@ void plan_arc(
|
||||
planner.apply_leveling(raw);
|
||||
#endif
|
||||
|
||||
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
|
||||
OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
|
||||
);
|
||||
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
|
||||
|
||||
TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
||||
ARC_LIJK_CODE(raw[axis_l] = start_L, raw.i = start_I, raw.j = start_J, raw.k = start_K);
|
||||
#endif
|
||||
current_position = raw;
|
||||
|
||||
} // plan_arc
|
||||
@ -325,7 +380,7 @@ void GcodeSuite::G2_G3(const bool clockwise) {
|
||||
relative_mode = true;
|
||||
#endif
|
||||
|
||||
get_destination_from_command(); // Get X Y Z E F (and set cutter power)
|
||||
get_destination_from_command(); // Get X Y [Z[I[J[K]]]] [E] F (and set cutter power)
|
||||
|
||||
TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
|
||||
|
||||
|
||||
@ -585,12 +585,20 @@
|
||||
#error "TEMP_SENSOR_1_AS_REDUNDANT is now TEMP_SENSOR_REDUNDANT, with associated TEMP_SENSOR_REDUNDANT_* config."
|
||||
#elif defined(MAX_REDUNDANT_TEMP_SENSOR_DIFF)
|
||||
#error "MAX_REDUNDANT_TEMP_SENSOR_DIFF is now TEMP_SENSOR_REDUNDANT_MAX_DIFF"
|
||||
#elif MOTHERBOARD == BOARD_DUE3DOM_MINI && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD)
|
||||
#elif defined(LCD_ALEPHOBJECTS_CLCD_UI)
|
||||
#error "LCD_ALEPHOBJECTS_CLCD_UI is now LCD_LULZBOT_CLCD_UI."
|
||||
#elif defined(MIN_ARC_SEGMENTS)
|
||||
#error "MIN_ARC_SEGMENTS is now MIN_CIRCLE_SEGMENTS."
|
||||
#elif defined(ARC_SEGMENTS_PER_R)
|
||||
#error "ARC_SUPPORT no longer uses ARC_SEGMENTS_PER_R."
|
||||
#elif ENABLED(ARC_SUPPORT) && (!defined(MIN_ARC_SEGMENT_MM) || !defined(MAX_ARC_SEGMENT_MM))
|
||||
#error "ARC_SUPPORT now requires MIN_ARC_SEGMENT_MM and MAX_ARC_SEGMENT_MM."
|
||||
#endif
|
||||
|
||||
#if MOTHERBOARD == BOARD_DUE3DOM_MINI && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD)
|
||||
#warning "Onboard temperature sensor for BOARD_DUE3DOM_MINI has moved from TEMP_SENSOR_2 (TEMP_2_PIN) to TEMP_SENSOR_BOARD (TEMP_BOARD_PIN)."
|
||||
#elif MOTHERBOARD == BOARD_BTT_SKR_E3_TURBO && PIN_EXISTS(TEMP_2) && DISABLED(TEMP_SENSOR_BOARD)
|
||||
#warning "Onboard temperature sensor for BOARD_BTT_SKR_E3_TURBO has moved from TEMP_SENSOR_2 (TEMP_2_PIN) to TEMP_SENSOR_BOARD (TEMP_BOARD_PIN)."
|
||||
#elif defined(LCD_ALEPHOBJECTS_CLCD_UI)
|
||||
#warning "LCD_ALEPHOBJECTS_CLCD_UI is now LCD_LULZBOT_CLCD_UI."
|
||||
#endif
|
||||
|
||||
constexpr float arm[] = AXIS_RELATIVE_MODES;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user