Enhance arc interpolation and add M214 for controlling arc interpolation settings.
This commit is contained in:
FormerLurker
Alex Voinea
parent
e3f48ead9f
commit
4aa5a75301
14 changed files with 306 additions and 130 deletions
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@ -169,6 +169,10 @@ void Config_PrintSettings(uint8_t level)
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echomagic, echomagic, extruder_advance_K);
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#endif //LIN_ADVANCE
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}
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// Arc Interpolation Settings
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printf_P(PSTR(
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"%SArc Settings: N=Arc segment length max (mm) S=Arc segment length Min (mm), R=Min arc segments, F=Arc segments per second.\n%S M214 N%.2f S%.2f R%d F%d\n"),
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echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.min_arc_segments, cs.arc_segments_per_sec);
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}
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#endif
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@ -184,7 +188,7 @@ static_assert (false, "zprobe_zoffset was not initialized in printers in field t
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"0.0, if this is not acceptable, increment EEPROM_VERSION to force use default_conf");
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#endif
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static_assert (sizeof(M500_conf) == 196, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
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static_assert (sizeof(M500_conf) == 208, "sizeof(M500_conf) has changed, ensure that EEPROM_VERSION has been incremented, "
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"or if you added members in the end of struct, ensure that historically uninitialized values will be initialized."
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"If this is caused by change to more then 8bit processor, decide whether make this struct packed to save EEPROM,"
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"leave as it is to keep fast code, or reorder struct members to pack more tightly.");
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@ -233,6 +237,10 @@ static const M500_conf default_conf PROGMEM =
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{16,16,16,16},
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#endif
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DEFAULT_TRAVEL_ACCELERATION,
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DEFAULT_MM_PER_ARC_SEGMENT,
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DEFAULT_MIN_MM_PER_ARC_SEGMENT,
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DEFAULT_MIN_ARC_SEGMENTS,
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DEFAULT_ARC_SEGMENTS_PER_SEC
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};
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@ -273,6 +281,11 @@ bool Config_RetrieveSettings()
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memcpy_P(&cs.max_acceleration_units_per_sq_second_silent[i],&default_conf.max_acceleration_units_per_sq_second_silent[i],sizeof(cs.max_acceleration_units_per_sq_second_silent[i]));
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}
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}
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// Initialize arc interpolation settings if they are not already (Not sure about this bit, please review)
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if (0xff == cs.mm_per_arc_segment) cs.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
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if (0xff == cs.min_mm_per_arc_segment) cs.min_mm_per_arc_segment = DEFAULT_MIN_MM_PER_ARC_SEGMENT;
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if (0xff == cs.min_arc_segments) cs.min_arc_segments = DEFAULT_MIN_ARC_SEGMENTS;
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if (0xff == cs.arc_segments_per_sec) cs.arc_segments_per_sec = DEFAULT_ARC_SEGMENTS_PER_SEC;
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#ifdef TMC2130
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for (uint8_t j = X_AXIS; j <= Y_AXIS; j++)
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@ -39,6 +39,11 @@ typedef struct
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unsigned long max_acceleration_units_per_sq_second_silent[4];
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unsigned char axis_ustep_resolution[4];
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float travel_acceleration; //!< travel acceleration mm/s^2
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// Arc Interpolation Settings, configurable via M214
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float mm_per_arc_segment;
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float min_mm_per_arc_segment;
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int min_arc_segments; // If less than or equal to zero, this is disabled
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int arc_segments_per_sec; // If less than or equal to zero, this is disabled
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} M500_conf;
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extern M500_conf cs;
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@ -289,9 +289,7 @@
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//#define LA_DEBUG_LOGIC // @wavexx: setup logic channels for isr debugging
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#endif
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// Arc interpretation settings:
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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// Arc interpretation settings : Moded to printer default settings (Configuration_prusa.h)
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const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
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102
Firmware/Marlin_main.cpp
Executable file → Normal file
102
Firmware/Marlin_main.cpp
Executable file → Normal file
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@ -7502,9 +7502,88 @@ Sigma_Exit:
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}
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}break;
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#endif // FWRETRACT
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#endif // FWRETRACT
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/*!
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### M214 - Set Arc configuration values (Use M500 to store in eeprom)
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#### Usage
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M214 [N] [S] [R] [F]
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#### Parameters
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- `N` - A float representing the max and default millimeters per arc segment. Must be greater than 0.
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- `S` - A float representing the minimum allowable millimeters per arc segment. Set to 0 to disable
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- `R` - An int representing the minimum number of segments per arcs of any radius,
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except when the results in segment lengths greater than or less than the minimum
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and maximum segment length. Set to 0 to disable.
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- 'F' - An int representing the number of segments per second, unless this results in segment lengths
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greater than or less than the minimum and maximum segment length. Set to 0 to disable.
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*/
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case 214: //!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) N<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC>
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{
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// Extract N
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float n = cs.mm_per_arc_segment;
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float s = cs.min_mm_per_arc_segment;
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int r = cs.min_arc_segments;
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int f = cs.arc_segments_per_sec;
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// Extract N
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if (code_seen('N'))
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{
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n = code_value();
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if (n <= 0 || (s != 0 && n <= s))
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{
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SERIAL_ECHO_START;
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SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
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SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
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SERIAL_ECHOLNPGM("\"(1)");
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break;
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}
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}
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// Extract S
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if (code_seen('S'))
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{
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s = code_value();
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if (s < 0 || s >= n)
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{
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SERIAL_ECHO_START;
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SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
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SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
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SERIAL_ECHOLNPGM("\"(1)");
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break;
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}
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}
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// Extract R
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if (code_seen('R'))
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{
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r = code_value();
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if (r < 0)
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{
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SERIAL_ECHO_START;
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SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
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SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
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SERIAL_ECHOLNPGM("\"(1)");
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break;
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}
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}
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// Extract F
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if (code_seen('F'))
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{
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f = code_value();
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if (f < 0)
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{
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SERIAL_ECHO_START;
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SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
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SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
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SERIAL_ECHOLNPGM("\"(1)");
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break;
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}
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}
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cs.mm_per_arc_segment = n;
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cs.min_mm_per_arc_segment = s;
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cs.min_arc_segments = r;
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cs.arc_segments_per_sec = f;
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}break;
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#if EXTRUDERS > 1
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/*!
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@ -9641,18 +9720,15 @@ void prepare_move()
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set_current_to_destination();
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}
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void prepare_arc_move(bool isclockwise) {
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float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
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// Trace the arc
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mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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// in any intermediate location.
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set_current_to_destination();
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previous_millis_cmd.start();
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void prepare_arc_move(char isclockwise) {
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float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
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// Trace the arc
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mc_arc(current_position, destination, offset, feedrate * feedmultiply / 60 / 100.0, r, isclockwise, active_extruder);
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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// in any intermediate location.
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set_current_to_destination();
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previous_millis_cmd.start();
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}
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#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
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@ -4,7 +4,8 @@
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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Copyright (c) 2020 Brad Hochgesang
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Grbl 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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@ -25,121 +26,140 @@
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// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
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// segment is configured in settings.mm_per_arc_segment.
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void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, float feed_rate, float radius, bool isclockwise, uint8_t extruder)
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{
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// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
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// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
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float center_axis0 = position[axis_0] + offset[axis_0];
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float center_axis1 = position[axis_1] + offset[axis_1];
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float linear_travel = target[axis_linear] - position[axis_linear];
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float extruder_travel = target[E_AXIS] - position[E_AXIS];
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float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
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float r_axis1 = -offset[axis_1];
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float rt_axis0 = target[axis_0] - center_axis0;
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float rt_axis1 = target[axis_1] - center_axis1;
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// CCW angle between position and target from circle center. Only one atan2() trig computation required.
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float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
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if (angular_travel < 0) { angular_travel += 2*M_PI; }
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if (isclockwise) { angular_travel -= 2*M_PI; }
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//20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
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//to compensate when start pos = target pos && angle is zero -> angle = 2Pi
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if (position[axis_0] == target[axis_0] && position[axis_1] == target[axis_1] && angular_travel == 0)
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{
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angular_travel += 2*M_PI;
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}
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//end fix G03
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float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
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if (millimeters_of_travel < 0.001) { return; }
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uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
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if(segments == 0) segments = 1;
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/*
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// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
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// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
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// all segments.
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if (invert_feed_rate) { feed_rate *= segments; }
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*/
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float theta_per_segment = angular_travel/segments;
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float linear_per_segment = linear_travel/segments;
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float extruder_per_segment = extruder_travel/segments;
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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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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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void mc_arc(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
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{
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// Extract the position to reduce indexing at the cost of a few bytes of mem
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float p_x = position[X_AXIS];
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float p_y = position[Y_AXIS];
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float p_z = position[Z_AXIS];
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float p_e = position[E_AXIS];
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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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This approximation also allows mc_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 mc_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 cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
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float sin_T = theta_per_segment;
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float arc_target[4];
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float sin_Ti;
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float cos_Ti;
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float r_axisi;
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uint16_t i;
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int8_t count = 0;
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float t_x = target[X_AXIS];
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float t_y = target[Y_AXIS];
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float t_z = target[Z_AXIS];
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float t_e = target[E_AXIS];
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// Initialize the linear axis
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arc_target[axis_linear] = position[axis_linear];
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// Initialize the extruder axis
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arc_target[E_AXIS] = position[E_AXIS];
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float r_axis_x = -offset[X_AXIS]; // Radius vector from center to current location
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float r_axis_y = -offset[Y_AXIS];
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float center_axis_x = p_x - r_axis_x;
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float center_axis_y = p_y - r_axis_y;
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float travel_z = t_z - p_z;
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float extruder_travel_total = t_e - p_e;
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for (i = 1; i<segments; i++) { // Increment (segments-1)
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if (count < N_ARC_CORRECTION) {
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// Apply vector rotation matrix
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r_axisi = r_axis0*sin_T + r_axis1*cos_T;
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r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
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r_axis1 = r_axisi;
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count++;
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} else {
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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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cos_Ti = cos(i*theta_per_segment);
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sin_Ti = sin(i*theta_per_segment);
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r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
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r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
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count = 0;
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float rt_x = t_x - center_axis_x;
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float rt_y = t_y - center_axis_y;
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// 20200419 - Add a variable that will be used to hold the arc segment length
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float mm_per_arc_segment = cs.mm_per_arc_segment;
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// CCW angle between position and target from circle center. Only one atan2() trig computation required.
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float angular_travel_total = atan2(r_axis_x * rt_y - r_axis_y * rt_x, r_axis_x * rt_x + r_axis_y * rt_y);
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if (angular_travel_total < 0) { angular_travel_total += 2 * M_PI; }
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bool check_mm_per_arc_segment_max = false;
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if (cs.min_arc_segments > 0)
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{
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// 20200417 - FormerLurker - Implement MIN_ARC_SEGMENTS if it is defined - from Marlin 2.0 implementation
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// Do this before converting the angular travel for clockwise rotation
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mm_per_arc_segment = radius * ((2.0f * M_PI) / cs.min_arc_segments);
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check_mm_per_arc_segment_max = true;
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}
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// Update arc_target location
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arc_target[axis_0] = center_axis0 + r_axis0;
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arc_target[axis_1] = center_axis1 + r_axis1;
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arc_target[axis_linear] += linear_per_segment;
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arc_target[E_AXIS] += extruder_per_segment;
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if (cs.arc_segments_per_sec > 0)
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{
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// 20200417 - FormerLurker - Implement MIN_ARC_SEGMENTS if it is defined - from Marlin 2.0 implementation
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float mm_per_arc_segment_sec = (feed_rate / 60.0f) * (1.0f / cs.arc_segments_per_sec);
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if (mm_per_arc_segment_sec < mm_per_arc_segment)
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mm_per_arc_segment = mm_per_arc_segment_sec;
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check_mm_per_arc_segment_max = true;
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}
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clamp_to_software_endstops(arc_target);
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plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
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}
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// Ensure last segment arrives at target location.
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plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
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if (cs.min_mm_per_arc_segment > 0)
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{
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check_mm_per_arc_segment_max = true;
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// 20200417 - FormerLurker - Implement MIN_MM_PER_ARC_SEGMENT if it is defined
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// This prevents a very high number of segments from being generated for curves of a short radius
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if (mm_per_arc_segment < cs.min_mm_per_arc_segment) mm_per_arc_segment = cs.min_mm_per_arc_segment;
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}
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// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
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if (check_mm_per_arc_segment_max && mm_per_arc_segment > cs.mm_per_arc_segment) mm_per_arc_segment = cs.mm_per_arc_segment;
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// Adjust the angular travel if the direction is clockwise
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if (isclockwise) { angular_travel_total -= 2 * M_PI; }
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//20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
|
||||
//to compensate when start pos = target pos && angle is zero -> angle = 2Pi
|
||||
if (p_x == t_x && p_y == t_y && angular_travel_total == 0)
|
||||
{
|
||||
angular_travel_total += 2 * M_PI;
|
||||
}
|
||||
//end fix G03
|
||||
|
||||
// 20200417 - FormerLurker - rename millimeters_of_travel to millimeters_of_travel_arc to better describe what we are
|
||||
// calculating here
|
||||
float millimeters_of_travel_arc = hypot(angular_travel_total * radius, fabs(travel_z));
|
||||
if (millimeters_of_travel_arc < 0.001) { return; }
|
||||
// Calculate the total travel per segment
|
||||
// Calculate the number of arc segments
|
||||
uint16_t segments = static_cast<uint16_t>(ceil(millimeters_of_travel_arc / mm_per_arc_segment));
|
||||
|
||||
|
||||
// Calculate theta per segments and linear (z) travel per segment
|
||||
float theta_per_segment = angular_travel_total / segments;
|
||||
float linear_per_segment = travel_z / (segments);
|
||||
// Calculate the extrusion amount per segment
|
||||
float segment_extruder_travel = extruder_travel_total / (segments);
|
||||
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
|
||||
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
|
||||
r_T = [cos(phi) -sin(phi);
|
||||
sin(phi) cos(phi] * r ;
|
||||
|
||||
For arc generation, the center of the circle is the axis of rotation and the radius vector is
|
||||
defined from the circle center to the initial position. Each line segment is formed by successive
|
||||
vector rotations. This requires only two cos() and sin() computations to form the rotation
|
||||
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
|
||||
all double numbers are single precision on the Arduino. (True double precision will not have
|
||||
round off issues for CNC applications.) Single precision error can accumulate to be greater than
|
||||
tool precision in some cases. Therefore, arc path correction is implemented.
|
||||
|
||||
The small angle approximation was removed because of excessive errors for small circles (perhaps unique to
|
||||
3d printing applications, causing significant path deviation and extrusion issues).
|
||||
Now there will be no corrections applied, but an accurate initial sin and cos will be calculated.
|
||||
This seems to work with a very high degree of accuracy and results in much simpler code.
|
||||
|
||||
Finding a faster way to approximate sin, knowing that there can be substantial deviations from the true
|
||||
arc when using the previous approximation, would be beneficial.
|
||||
*/
|
||||
|
||||
// Don't bother calculating cot_T or sin_T if there is only 1 segment.
|
||||
if (segments > 1)
|
||||
{
|
||||
// Initialize the extruder axis
|
||||
|
||||
float cos_T = cos(theta_per_segment);
|
||||
float sin_T = sin(theta_per_segment);
|
||||
float r_axisi;
|
||||
uint16_t i;
|
||||
|
||||
for (i = 1; i < segments; i++) { // Increment (segments-1)
|
||||
r_axisi = r_axis_x * sin_T + r_axis_y * cos_T;
|
||||
r_axis_x = r_axis_x * cos_T - r_axis_y * sin_T;
|
||||
r_axis_y = r_axisi;
|
||||
|
||||
// Update arc_target location
|
||||
p_x = center_axis_x + r_axis_x;
|
||||
p_y = center_axis_y + r_axis_y;
|
||||
p_z += linear_per_segment;
|
||||
p_e += segment_extruder_travel;
|
||||
// We can't clamp to the target because we are interpolating! We would need to update a position, clamp to it
|
||||
// after updating from calculated values.
|
||||
//clamp_to_software_endstops(position);
|
||||
plan_buffer_line(p_x, p_y, p_z, p_e, feed_rate, extruder);
|
||||
}
|
||||
}
|
||||
// Ensure last segment arrives at target location.
|
||||
// Here we could clamp, but why bother. We would need to update our current position, clamp to it
|
||||
//clamp_to_software_endstops(target);
|
||||
plan_buffer_line(t_x, t_y, t_z, t_e, feed_rate, extruder);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
|
||||
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
|
||||
// for vector transformation direction.
|
||||
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
|
||||
uint8_t axis_linear, float feed_rate, float radius, bool isclockwise, uint8_t extruder);
|
||||
void mc_arc(float *position, float *target, float *offset, float feed_rate, float radius,
|
||||
unsigned char isclockwise, uint8_t extruder);
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -525,4 +525,12 @@
|
|||
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -529,4 +529,12 @@
|
|||
//#define HEATBED_ANALYSIS //for meash bed leveling and heatbed analysis D-codes D80 and D81
|
||||
//#define MICROMETER_LOGGING //related to D-codes D80 and D81, currently works on MK2.5 only (MK3 board pin definitions missing)
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -532,4 +532,12 @@
|
|||
//#define MMU_ALWAYS_CUT
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -533,4 +533,12 @@
|
|||
//#define MMU_ALWAYS_CUT
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -671,4 +671,12 @@
|
|||
#define MMU_HAS_CUTTER
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -683,4 +683,12 @@
|
|||
//#define MMU_ALWAYS_CUT
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -449,4 +449,12 @@ THERMISTORS SETTINGS
|
|||
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
|
|
@ -438,4 +438,12 @@ THERMISTORS SETTINGS
|
|||
|
||||
#define MMU_IDLER_SENSOR_ATTEMPTS_NR 21 //max. number of attempts to load filament if first load failed; value for max bowden length and case when loading fails right at the beginning
|
||||
|
||||
// Default Arc Interpolation Settings (Now configurable via M214)
|
||||
#define DEFAULT_MM_PER_ARC_SEGMENT 1.0f // REQUIRED - The enforced maximum length of an arc segment
|
||||
#define DEFAULT_MIN_MM_PER_ARC_SEGMENT 0.5f /* OPTIONAL - the enforced minimum length of an interpolated segment. Must be smaller than
|
||||
MM_PER_ARC_SEGMENT. Only has an effect if MIN_ARC_SEGMENTS > 0 or ARC_SEGMENTS_PER_SEC > 0 */
|
||||
// If both MIN_ARC_SEGMENTS and ARC_SEGMENTS_PER_SEC is defined, the minimum calculated segment length is used.
|
||||
#define DEFAULT_MIN_ARC_SEGMENTS 20 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
|
||||
#define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
|
||||
|
||||
#endif //__CONFIGURATION_PRUSA_H
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue