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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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14
Marlin/src/gcode/motion/G2_G3.cpp
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@ -44,7 +44,7 @@
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
float logical[XYZE], // Destination position
float rtarget[XYZE], // Destination position
float *offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
) {
@ -65,10 +65,10 @@ void plan_arc(
const float radius = HYPOT(r_P, r_Q),
center_P = current_position[p_axis] - r_P,
center_Q = current_position[q_axis] - r_Q,
rt_X = logical[p_axis] - center_P,
rt_Y = logical[q_axis] - center_Q,
linear_travel = logical[l_axis] - current_position[l_axis],
extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
rt_X = rtarget[p_axis] - center_P,
rt_Y = rtarget[q_axis] - center_Q,
linear_travel = rtarget[l_axis] - current_position[l_axis],
extruder_travel = rtarget[E_AXIS] - current_position[E_AXIS];
// 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);
@ -76,7 +76,7 @@ void plan_arc(
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] == logical[p_axis] && current_position[q_axis] == logical[q_axis])
if (angular_travel == 0 && current_position[p_axis] == rtarget[p_axis] && current_position[q_axis] == rtarget[q_axis])
angular_travel = RADIANS(360);
const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
@ -176,7 +176,7 @@ void plan_arc(
}
// Ensure last segment arrives at target location.
planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
planner.buffer_line_kinematic(rtarget, fr_mm_s, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position