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