#define ymax_checksum CHECKSUM("y_max")
#define zmax_checksum CHECKSUM("z_max")
-#define ARC_ANGULAR_TRAVEL_EPSILON 5E-9F // Float (radians)
#define PI 3.14159265358979323846F // force to be float, do not use M_PI
// The Robot converts GCodes into actual movements, and then adds them to the Planner, which passes them to the Conveyor so they can be added to the queue
break;
}
+ // needed to act as start of next arc command
+ memcpy(arc_milestone, target, sizeof(arc_milestone));
+
if(moved) {
// set machine_position to the calculated target
memcpy(machine_position, target, n_motors*sizeof(float));
return false;
}
- // Scary math
- float center_axis0 = this->machine_position[this->plane_axis_0] + offset[this->plane_axis_0];
- float center_axis1 = this->machine_position[this->plane_axis_1] + offset[this->plane_axis_1];
- float linear_travel = target[this->plane_axis_2] - this->machine_position[this->plane_axis_2];
- float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to current location
+ // Scary math.
+ // We need to use arc_milestone here to get accurate arcs as previous machine_position may have been skipped due to small movements
+ float center_axis0 = this->arc_milestone[this->plane_axis_0] + offset[this->plane_axis_0];
+ float center_axis1 = this->arc_milestone[this->plane_axis_1] + offset[this->plane_axis_1];
+ float linear_travel = target[this->plane_axis_2] - this->arc_milestone[this->plane_axis_2];
+ float r_axis0 = -offset[this->plane_axis_0]; // Radius vector from center to start position
float r_axis1 = -offset[this->plane_axis_1];
- float rt_axis0 = target[this->plane_axis_0] - center_axis0;
- float rt_axis1 = target[this->plane_axis_1] - center_axis1;
-
- // Patch from GRBL Firmware - Christoph Baumann 04072015
- // CCW angle between position and target from circle center. Only one atan2() trig computation required.
-
- float angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
- gcode->stream->printf("Mpos Plane_Axis_0: %8.34f\r\n", machine_position[this->plane_axis_0]);
- gcode->stream->printf("Mpos Plane_Axis_1: %8.34f\r\n", machine_position[this->plane_axis_1]);
- gcode->stream->printf("Offset Plane_Axis_0: %8.34f\r\n", offset[this->plane_axis_0]);
- gcode->stream->printf("Offset Plane_Axis_1: %8.34f\r\n", offset[this->plane_axis_1]);
- gcode->stream->printf("Target Plane_Axis_0: %8.34f\r\n", target[this->plane_axis_0]);
- gcode->stream->printf("Target Plane_Axis_1: %8.34f\r\n", target[this->plane_axis_1]);
- gcode->stream->printf("center_axis0: %8.34f\r\n", center_axis0);
- gcode->stream->printf("center_axis1: %8.34f\r\n", center_axis1);
- gcode->stream->printf("Radius:%8.34f\r\n",radius);
- gcode->stream->printf("r_axis0:%8.34f\r\n",r_axis0);
- gcode->stream->printf("rt_axis0:%8.34f\r\n",rt_axis0);
- gcode->stream->printf("r_axis1:%8.34f\r\n",r_axis1);
- gcode->stream->printf("rt_axis1:%8.34f\r\n",rt_axis1);
- gcode->stream->printf("ARC_ANGULAR_TRAVEL_EPSILON:%8.64f\r\n",ARC_ANGULAR_TRAVEL_EPSILON);
- gcode->stream->printf("angular_travel1:%8.34f\r\n",angular_travel);
- if (plane_axis_2 == Y_AXIS) { is_clockwise = !is_clockwise; } //Math for XZ plane is reverse of other 2 planes
- if (is_clockwise) { // Correct atan2 output per direction
- if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= (2 * PI); }
+ float rt_axis0 = target[this->plane_axis_0] - this->arc_milestone[this->plane_axis_0] - offset[this->plane_axis_0]; // Radius vector from center to target position
+ float rt_axis1 = target[this->plane_axis_1] - this->arc_milestone[this->plane_axis_1] - offset[this->plane_axis_1];
+ float angular_travel = 0;
+ //check for condition where atan2 formula will fail due to everything canceling out exactly
+ if((this->arc_milestone[this->plane_axis_0]==target[this->plane_axis_0]) && (this->arc_milestone[this->plane_axis_1]==target[this->plane_axis_1])) {
+ if (is_clockwise) { // set angular_travel to -2pi for a clockwise full circle
+ angular_travel = (-2 * PI);
+ } else { // set angular_travel to 2pi for a counterclockwise full circle
+ angular_travel = (2 * PI);
+ }
} else {
- if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += (2 * PI); }
+ // Patch from GRBL Firmware - Christoph Baumann 04072015
+ // CCW angle between position and target from circle center. Only one atan2() trig computation required.
+ // Only run if not a full circle or angular travel will incorrectly result in 0.0f
+ angular_travel = atan2f(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
+ if (plane_axis_2 == Y_AXIS) { is_clockwise = !is_clockwise; } //Math for XZ plane is reverse of other 2 planes
+ if (is_clockwise) { // adjust angular_travel to be in the range of -2pi to 0 for clockwise arcs
+ if (angular_travel > 0) { angular_travel -= (2 * PI); }
+ } else { // adjust angular_travel to be in the range of 0 to 2pi for counterclockwise arcs
+ if (angular_travel < 0) { angular_travel += (2 * PI); }
+ }
}
- gcode->stream->printf("angular_travel2:%8.34f\r\n",angular_travel);
-
// Find the distance for this gcode
float millimeters_of_travel = hypotf(angular_travel * radius, fabsf(linear_travel));
- gcode->stream->printf("millimeters_of_travel:%8.34f\r\n",millimeters_of_travel);
// We don't care about non-XYZ moves ( for example the extruder produces some of those )
if( millimeters_of_travel < 0.000001F ) {
// Find the radius
float radius = hypotf(offset[this->plane_axis_0], offset[this->plane_axis_1]);
+
// Set clockwise/counter-clockwise sign for mc_arc computations
bool is_clockwise = false;
if( motion_mode == CW_ARC ) {
HCoop / clinton / Smoothieware.git / blobdiff