340 lines
13 KiB
C++
340 lines
13 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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(ARC_SUPPORT)
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/planner.h"
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#include "../../module/temperature.h"
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#if ENABLED(DELTA)
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#include "../../module/delta.h"
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#elif ENABLED(SCARA)
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#include "../../module/scara.h"
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#endif
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#if HAS_FEEDRATE_SCALING && ENABLED(AUTO_BED_LEVELING_BILINEAR)
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#include "../../feature/bedlevel/abl/abl.h"
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#endif
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#if N_ARC_CORRECTION < 1
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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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/**
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* Plan an arc in 2 dimensions
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*
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* The arc is approximated by generating many small linear segments.
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* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
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* Arcs should only be made relatively large (over 5mm), as larger arcs with
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* larger segments will tend to be more efficient. Your slicer should have
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* options for G2/G3 arc generation. In future these options may be GCode tunable.
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*/
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void plan_arc(
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const float (&cart)[XYZE], // Destination position
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const float (&offset)[2], // Center of rotation relative to current_position
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const uint8_t clockwise // Clockwise?
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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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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_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_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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}
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#else
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constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
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#endif
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// Radius vector from center to current location
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float r_P = -offset[0], r_Q = -offset[1];
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const float radius = HYPOT(r_P, r_Q),
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center_P = current_position[p_axis] - r_P,
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center_Q = current_position[q_axis] - r_Q,
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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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linear_travel = cart[l_axis] - current_position[l_axis],
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extruder_travel = cart[E_AXIS] - current_position[E_AXIS];
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// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
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float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
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if (angular_travel < 0) angular_travel += RADIANS(360);
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if (clockwise) angular_travel -= RADIANS(360);
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// Make a circle if the angular rotation is 0 and the target is current position
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if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
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angular_travel = RADIANS(360);
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const float flat_mm = radius * angular_travel,
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mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
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if (mm_of_travel < 0.001) return;
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uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
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if (segments == 0) segments = 1;
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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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* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
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* r_T = [cos(phi) -sin(phi);
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* sin(phi) cos(phi)] * r ;
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*
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* For arc generation, the center of the circle is the axis of rotation and the radius vector is
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* defined from the circle center to the initial position. Each line segment is formed by successive
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* vector rotations. This requires only two cos() and sin() computations to form the rotation
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* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
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* all double numbers are single precision on the Arduino. (True double precision will not have
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* round off issues for CNC applications.) Single precision error can accumulate to be greater than
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* tool precision in some cases. Therefore, arc path correction is implemented.
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*
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* Small angle approximation may be used to reduce computation overhead further. This approximation
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* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
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* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
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* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
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* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
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* issue for CNC machines with the single precision Arduino calculations.
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*
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* This approximation also allows plan_arc to immediately insert a line segment into the planner
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* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
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* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
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* This is important when there are successive arc motions.
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*/
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// Vector rotation matrix values
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float raw[XYZE];
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const float theta_per_segment = angular_travel / segments,
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linear_per_segment = linear_travel / segments,
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extruder_per_segment = extruder_travel / segments,
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sin_T = theta_per_segment,
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cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
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// Initialize the linear axis
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raw[l_axis] = current_position[l_axis];
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// Initialize the extruder axis
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raw[E_AXIS] = current_position[E_AXIS];
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const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
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millis_t next_idle_ms = millis() + 200UL;
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#if HAS_FEEDRATE_SCALING
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// SCARA needs to scale the feed rate from mm/s to degrees/s
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const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
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inverse_secs = inv_segment_length * fr_mm_s;
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float oldA = planner.position_float[A_AXIS],
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oldB = planner.position_float[B_AXIS]
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#if ENABLED(DELTA_FEEDRATE_SCALING)
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, oldC = planner.position_float[C_AXIS]
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#endif
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;
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#endif
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#if N_ARC_CORRECTION > 1
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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#endif
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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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idle();
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}
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#if N_ARC_CORRECTION > 1
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if (--arc_recalc_count) {
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// Apply vector rotation matrix to previous r_P / 1
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const float r_new_Y = r_P * sin_T + r_Q * cos_T;
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r_P = r_P * cos_T - r_Q * sin_T;
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r_Q = r_new_Y;
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}
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else
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#endif
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{
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#if N_ARC_CORRECTION > 1
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arc_recalc_count = N_ARC_CORRECTION;
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#endif
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
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// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
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// To reduce stuttering, the sin and cos could be computed at different times.
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// For now, compute both at the same time.
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const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
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r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
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r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
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}
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// Update raw location
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raw[p_axis] = center_P + r_P;
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raw[q_axis] = center_Q + r_Q;
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raw[l_axis] += linear_per_segment;
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raw[E_AXIS] += extruder_per_segment;
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clamp_to_software_endstops(raw);
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#if HAS_FEEDRATE_SCALING
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inverse_kinematics(raw);
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ADJUST_DELTA(raw);
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#endif
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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// For SCARA scale the feed rate from mm/s to degrees/s
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// i.e., Complete the angular vector in the given time.
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if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
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break;
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
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#elif ENABLED(DELTA_FEEDRATE_SCALING)
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// For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
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// i.e., Complete the linear vector in the given time.
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if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder))
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break;
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
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#elif HAS_UBL_AND_CURVES
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float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
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planner.apply_leveling(pos);
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if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder))
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break;
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#else
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if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
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break;
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#endif
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}
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// Ensure last segment arrives at target location.
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#if HAS_FEEDRATE_SCALING
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inverse_kinematics(cart);
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ADJUST_DELTA(cart);
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#endif
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
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if (diff2)
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
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#elif ENABLED(DELTA_FEEDRATE_SCALING)
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const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
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if (diff2)
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
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#elif HAS_UBL_AND_CURVES
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float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
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planner.apply_leveling(pos);
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planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder);
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#else
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planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
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#endif
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COPY(current_position, cart);
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} // plan_arc
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/**
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* G2: Clockwise Arc
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* G3: Counterclockwise Arc
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*
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* This command has two forms: IJ-form and R-form.
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*
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* - I specifies an X offset. J specifies a Y offset.
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* At least one of the IJ parameters is required.
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* X and Y can be omitted to do a complete circle.
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* The given XY is not error-checked. The arc ends
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* based on the angle of the destination.
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* Mixing I or J with R will throw an error.
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*
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* - R specifies the radius. X or Y is required.
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* Omitting both X and Y will throw an error.
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* X or Y must differ from the current XY.
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* Mixing R with I or J will throw an error.
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*
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* - P specifies the number of full circles to do
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* before the specified arc move.
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*
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* Examples:
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*
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* G2 I10 ; CW circle centered at X+10
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* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
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*/
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void GcodeSuite::G2_G3(const bool clockwise) {
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if (MOTION_CONDITIONS) {
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#if ENABLED(SF_ARC_FIX)
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const bool relative_mode_backup = relative_mode;
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relative_mode = true;
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#endif
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get_destination_from_command();
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#if ENABLED(SF_ARC_FIX)
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relative_mode = relative_mode_backup;
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#endif
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float arc_offset[2] = { 0.0, 0.0 };
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if (parser.seenval('R')) {
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const float r = parser.value_linear_units(),
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p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
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p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
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if (r && (p2 != p1 || q2 != q1)) {
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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dx = p2 - p1, dy = q2 - q1, // X and Y differences
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d = HYPOT(dx, dy), // Linear distance between the points
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h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
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mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
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sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
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cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
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arc_offset[0] = cx - p1;
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arc_offset[1] = cy - q1;
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}
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}
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else {
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if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
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if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
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}
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if (arc_offset[0] || arc_offset[1]) {
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#if ENABLED(ARC_P_CIRCLES)
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// P indicates number of circles to do
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int8_t circles_to_do = parser.byteval('P');
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if (!WITHIN(circles_to_do, 0, 100)) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
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}
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while (circles_to_do--)
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plan_arc(current_position, arc_offset, clockwise);
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#endif
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// Send the arc to the planner
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plan_arc(destination, arc_offset, clockwise);
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reset_stepper_timeout();
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}
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else {
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// Bad arguments
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
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}
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}
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}
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#endif // ARC_SUPPORT
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