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SPE-1749 - Method GCodeProcessor::process_G2_G3() modified to match modified firmware

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This commit is contained in:
enricoturri1966 2023-06-05 11:17:18 +02:00
parent 54cc852e42
commit 166c30096a
1 changed files with 24 additions and 27 deletions
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51
src/libslic3r/GCode/GCodeProcessor.cpp
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@ -2696,7 +2696,7 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line, bool cloc
double delta_z() const { return end.z() - start.z(); }
double length() const { return angle * start_radius(); }
double travel_length() const { return std::sqrt(sqr(length() + sqr(delta_z()))); }
double travel_length() const { return std::sqrt(sqr(length()) + sqr(delta_z())); }
double start_radius() const { return (start - center).norm(); }
double end_radius() const { return (end - center).norm(); }
@ -2821,17 +2821,16 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line, bool cloc
// https://github.com/prusa3d/Prusa-Firmware/blob/MK3/Firmware/motion_control.cpp
// segments count
static const double MM_PER_ARC_SEGMENT = 0.5;
const size_t segments = std::ceil(travel_length / MM_PER_ARC_SEGMENT);
assert(segments >= 1);
static const double MM_PER_ARC_SEGMENT = 1.0;
const size_t segments = std::max<size_t>(std::floor(travel_length / MM_PER_ARC_SEGMENT), 1);
const double theta_per_segment = arc.angle / double(segments);
const double z_per_segment = arc.delta_z() / double(segments);
const double extruder_per_segment = (extrusion.has_value()) ? *extrusion / double(segments) : 0.0;
const double inv_segment = 1.0 / double(segments);
const double theta_per_segment = arc.angle * inv_segment;
const double z_per_segment = arc.delta_z() * inv_segment;
const double extruder_per_segment = (extrusion.has_value()) ? *extrusion * inv_segment : 0.0;
const double sq_theta_per_segment = sqr(theta_per_segment);
const double cos_T = 1.0 - 0.5 * sq_theta_per_segment; // Small angle approximation
const double sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6.0; // Small angle approximation
const double cos_T = 1.0 - 0.5 * sqr(theta_per_segment); // Small angle approximation
const double sin_T = theta_per_segment;
AxisCoords prev_target = m_start_position;
AxisCoords arc_target;
@ -2848,23 +2847,24 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line, bool cloc
std::string gcode;
size_t n_arc_correction = N_ARC_CORRECTION;
size_t count = 0;
for (size_t i = 1; i < segments; ++i) {
if (n_arc_correction-- == 0) {
// Calculate the actual position for r_axis_x and r_axis_y
const double cos_Ti = ::cos((double)i * theta_per_segment);
const double sin_Ti = ::sin((double)i * theta_per_segment);
curr_rel_arc_start.x() = -double(rel_center.x()) * cos_Ti + double(rel_center.y()) * sin_Ti;
curr_rel_arc_start.y() = -double(rel_center.x()) * sin_Ti - double(rel_center.y()) * cos_Ti;
// reset n_arc_correction
n_arc_correction = N_ARC_CORRECTION;
}
else {
// Calculate X and Y using the small angle approximation
if (count < N_ARC_CORRECTION) {
// Apply vector rotation matrix
const float r_axisi = curr_rel_arc_start.x() * sin_T + curr_rel_arc_start.y() * cos_T;
curr_rel_arc_start.x() = curr_rel_arc_start.x() * cos_T - curr_rel_arc_start.y() * sin_T;
curr_rel_arc_start.y() = r_axisi;
++count;
}
else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
const double cos_Ti = ::cos(i * theta_per_segment);
const double sin_Ti = ::sin(i * theta_per_segment);
curr_rel_arc_start.x() = -double(rel_center.x()) * cos_Ti + double(rel_center.y()) * sin_Ti;
curr_rel_arc_start.y() = -double(rel_center.x()) * sin_Ti - double(rel_center.y()) * cos_Ti;
count = 0;
}
// Update arc_target location
@ -2873,15 +2873,12 @@ void GCodeProcessor::process_G2_G3(const GCodeReader::GCodeLine& line, bool cloc
arc_target[Z] += z_per_segment;
arc_target[E] += extruder_per_segment;
gcode += internal_only_g1_line(adjust_target(arc_target, prev_target), z_per_segment != 0.0, feedrate, extrusion);
gcode += internal_only_g1_line(adjust_target(arc_target, prev_target), z_per_segment != 0.0, (i == 1) ? feedrate : std::nullopt, extrusion);
prev_target = arc_target;
// feedrate is constant, we do not need to repeat it
feedrate.reset();
}
// Ensure last segment arrives at target location.
gcode += internal_only_g1_line(adjust_target(end_position, prev_target), arc.delta_z() != 0.0, feedrate, extrusion);
gcode += internal_only_g1_line(adjust_target(end_position, prev_target), arc.delta_z() != 0.0, (segments == 1) ? feedrate : std::nullopt, extrusion);
// process fake gcode lines
GCodeReader parser;