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Minimum segments for G2/G3. Better for small arcs. (#13466)

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This commit is contained in:
7eggert
2019-03-25 01:53:47 +01:00
committed by Scott Lahteine
parent 380c771988
commit d96f7d6068
75 changed files with 160 additions and 76 deletions
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14
Marlin/src/gcode/motion/G2_G3.cpp
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@@ -83,18 +83,28 @@ void plan_arc(
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
#ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * (angular_travel / RADIANS(360)));
NOLESS(min_segments, 1);
#else
constexpr uint16_t min_segments = 1;
#endif
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0 and the target is current position
if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis]) {
angular_travel = RADIANS(360);
#ifdef MIN_ARC_SEGMENTS
min_segments = MIN_ARC_SEGMENTS;
#endif
}
const float flat_mm = radius * angular_travel,
mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
if (mm_of_travel < 0.001f) return;
uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
NOLESS(segments, min_segments);
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,