From 51871fb8cb11624f6a5bd94b87c17ec14dfcc4b1 Mon Sep 17 00:00:00 2001 From: Philipp Aigner Date: Sat, 4 Jul 2015 01:02:56 +0200 Subject: [PATCH] patched arc from grbl project - sometimes arcs did not work correctly / changed comment --- src/modules/robot/Robot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp index 9e75483f..e4bc8610 100644 --- a/src/modules/robot/Robot.cpp +++ b/src/modules/robot/Robot.cpp @@ -820,7 +820,7 @@ void Robot::append_arc(Gcode *gcode, float target[], float offset[], float radiu float rt_axis0 = target[this->plane_axis_0] - center_axis0; float rt_axis1 = target[this->plane_axis_1] - center_axis1; - // Patch from GRBL Firmware - bauc 04072015 + // 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 = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); if (is_clockwise) { // Correct atan2 output per direction -- 2.20.1