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author
Jim Morris
<morris@wolfman.com>
Sat, 31 Mar 2018 10:35:39 +0000
(11:35 +0100)
committer
Jim Morris
<morris@wolfman.com>
Sat, 31 Mar 2018 10:35:39 +0000
(11:35 +0100)
src/modules/robot/Robot.cpp
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diff --git
a/src/modules/robot/Robot.cpp
b/src/modules/robot/Robot.cpp
index
aa28a49
..
c8e3215
100644
(file)
--- a/
src/modules/robot/Robot.cpp
+++ b/
src/modules/robot/Robot.cpp
@@
-1455,7
+1455,8
@@
bool Robot::append_arc(Gcode * gcode, const float target[], const float offset[]
return false;
}
- // Scary math
+ // 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];