From 5c5936508da9a94b547f226da132e1f8c6859b97 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 19 Jul 2015 10:48:20 -0700
Subject: [PATCH] G2/G3 Arcs for Delta
- Update prepare_move_delta to take a target argument
- Add Delta support to plan_arc
---
Marlin/Marlin_main.cpp | 56 ++++++++++++++++++++++++++++--------------
1 file changed, 38 insertions(+), 18 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3c4e5dbb73..bffdadf6fe 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -410,6 +410,8 @@ bool target_direction;
void process_next_command();
+void plan_arc(float target[NUM_AXIS], float *offset, uint8_t clockwise);
+
bool setTargetedHotend(int code);
void serial_echopair_P(const char *s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
@@ -1895,9 +1897,9 @@ inline void gcode_G0_G1() {
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
- float *target, // Destination position
- float *offset, // Center of rotation relative to current_position
- uint8_t clockwise // Clockwise?
+ float target[NUM_AXIS], // Destination position
+ float *offset, // Center of rotation relative to current_position
+ uint8_t clockwise // Clockwise?
) {
float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
@@ -1957,7 +1959,7 @@ void plan_arc(
float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
- float arc_target[4];
+ float arc_target[NUM_AXIS];
float sin_Ti;
float cos_Ti;
float r_axisi;
@@ -1998,10 +2000,28 @@ void plan_arc(
arc_target[E_AXIS] += extruder_per_segment;
clamp_to_software_endstops(arc_target);
- plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
+
+ #if defined(DELTA) || defined(SCARA)
+ calculate_delta(arc_target);
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ adjust_delta(arc_target);
+ #endif
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
+ #else
+ plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
+ #endif
}
+
// Ensure last segment arrives at target location.
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
+ #if defined(DELTA) || defined(SCARA)
+ calculate_delta(target);
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ adjust_delta(target);
+ #endif
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
+ #else
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
+ #endif
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
@@ -6074,9 +6094,9 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
#if defined(DELTA) || defined(SCARA)
- inline bool prepare_move_delta() {
+ inline bool prepare_move_delta(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
- for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+ for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
@@ -6093,22 +6113,22 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
float fraction = float(s) / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++)
- destination[i] = current_position[i] + difference[i] * fraction;
+ target[i] = current_position[i] + difference[i] * fraction;
- calculate_delta(destination);
+ calculate_delta(target);
#ifdef ENABLE_AUTO_BED_LEVELING
- adjust_delta(destination);
+ adjust_delta(target);
#endif
- //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
- //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
- //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
+ //SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]);
+ //SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]);
+ //SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
}
return true;
}
@@ -6116,7 +6136,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
#endif // DELTA || SCARA
#ifdef SCARA
- inline bool prepare_move_scara() { return prepare_move_delta(); }
+ inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
#endif
#ifdef DUAL_X_CARRIAGE
@@ -6193,9 +6213,9 @@ void prepare_move() {
#endif
#ifdef SCARA
- if (!prepare_move_scara()) return;
+ if (!prepare_move_scara(destination)) return;
#elif defined(DELTA)
- if (!prepare_move_delta()) return;
+ if (!prepare_move_delta(destination)) return;
#endif
#ifdef DUAL_X_CARRIAGE