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Arc Direction followup for circles (#20314)

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yysh12 2020-11-29 14:50:54 -06:00 committed by GitHub
parent e7e1dcf190
commit dcb101224f
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1 changed files with 14 additions and 12 deletions
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26
Marlin/src/gcode/motion/G2_G3.cpp
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@ -80,24 +80,26 @@ void plan_arc(
// Angle of rotation between position and target from the circle center.
float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
// Make sure angular travel over 180 degrees goes the other way around.
switch (((angular_travel < 0) << 1) + clockwise) {
case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
}
#ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * ABS(angular_travel) / RADIANS(360));
NOLESS(min_segments, 1U);
uint16_t min_segments = MIN_ARC_SEGMENTS;
#else
constexpr uint16_t min_segments = 1;
#endif
// Make a circle if the angular rotation is 0 and the target is current position
if (NEAR_ZERO(angular_travel) && NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
angular_travel = RADIANS(360);
// Do a full circle if angular rotation is near 0 and the target is current position
if ((!angular_travel || NEAR_ZERO(angular_travel)) && NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
// Preserve direction for circles
angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
}
else {
// Make sure angular travel over 180 degrees goes the other way around.
switch (((angular_travel < 0) << 1) | clockwise) {
case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
}
#ifdef MIN_ARC_SEGMENTS
min_segments = MIN_ARC_SEGMENTS;
min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
NOLESS(min_segments, 1U);
#endif
}