From 166c30096ab202957c7e0571028fdb5d895c5275 Mon Sep 17 00:00:00 2001 From: enricoturri1966 Date: Mon, 5 Jun 2023 11:17:18 +0200 Subject: [PATCH] SPE-1749 - Method GCodeProcessor::process_G2_G3() modified to match modified firmware --- src/libslic3r/GCode/GCodeProcessor.cpp | 51 ++++++++++++-------------- 1 file changed, 24 insertions(+), 27 deletions(-) diff --git a/src/libslic3r/GCode/GCodeProcessor.cpp b/src/libslic3r/GCode/GCodeProcessor.cpp index d8186712b..8ee97a858 100644 --- a/src/libslic3r/GCode/GCodeProcessor.cpp +++ b/src/libslic3r/GCode/GCodeProcessor.cpp @@ -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(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;