66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(BEZIER_CURVE_SUPPORT)
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#include "../../module/motion.h"
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#include "../../module/planner_bezier.h"
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/**
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* Parameters interpreted according to:
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* http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline
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* However I, J omission is not supported at this point; all
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* parameters can be omitted and default to zero.
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*/
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#include "../gcode.h"
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#include "../../Marlin.h" // for IsRunning()
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/**
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* G5: Cubic B-spline
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*/
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void GcodeSuite::G5() {
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if (MOTION_CONDITIONS) {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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if (workspace_plane != PLANE_XY) {
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SERIAL_ERROR_MSG(MSG_ERR_BAD_PLANE_MODE);
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return;
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}
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#endif
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get_destination_from_command();
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const xy_pos_t offsets[2] = {
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{ parser.linearval('I'), parser.linearval('J') },
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{ parser.linearval('P'), parser.linearval('Q') }
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};
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cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
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current_position = destination;
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}
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}
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#endif // BEZIER_CURVE_SUPPORT
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