|
|
|
@ -1152,8 +1152,8 @@ inline void get_coordinates()
|
|
|
|
inline void get_arc_coordinates()
|
|
|
|
inline void get_arc_coordinates()
|
|
|
|
{
|
|
|
|
{
|
|
|
|
get_coordinates();
|
|
|
|
get_coordinates();
|
|
|
|
if(code_seen("I")) offset[0] = code_value();
|
|
|
|
if(code_seen('I')) offset[0] = code_value();
|
|
|
|
if(code_seen("J")) offset[1] = code_value();
|
|
|
|
if(code_seen('J')) offset[1] = code_value();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void prepare_move()
|
|
|
|
void prepare_move()
|
|
|
|
@ -1165,119 +1165,16 @@ void prepare_move()
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void prepare_arc_move(char isclockwise) {
|
|
|
|
void prepare_arc_move(char isclockwise) {
|
|
|
|
#if 0
|
|
|
|
|
|
|
|
if (radius_mode) {
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
|
|
|
We need to calculate the center of the circle that has the designated radius and passes
|
|
|
|
|
|
|
|
through both the current position and the target position. This method calculates the following
|
|
|
|
|
|
|
|
set of equations where [x,y] is the vector from current to target position, d == magnitude of
|
|
|
|
|
|
|
|
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
|
|
|
|
|
|
|
|
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
|
|
|
|
|
|
|
|
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
|
|
|
|
|
|
|
|
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
d^2 == x^2 + y^2
|
|
|
|
|
|
|
|
h^2 == r^2 - (d/2)^2
|
|
|
|
|
|
|
|
i == x/2 - y/d*h
|
|
|
|
|
|
|
|
j == y/2 + x/d*h
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
O <- [i,j]
|
|
|
|
|
|
|
|
- |
|
|
|
|
|
|
|
|
r - |
|
|
|
|
|
|
|
|
- |
|
|
|
|
|
|
|
|
- | h
|
|
|
|
|
|
|
|
- |
|
|
|
|
|
|
|
|
[0,0] -> C -----------------+--------------- T <- [x,y]
|
|
|
|
|
|
|
|
| <------ d/2 ---->|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
C - Current position
|
|
|
|
|
|
|
|
T - Target position
|
|
|
|
|
|
|
|
O - center of circle that pass through both C and T
|
|
|
|
|
|
|
|
d - distance from C to T
|
|
|
|
|
|
|
|
r - designated radius
|
|
|
|
|
|
|
|
h - distance from center of CT to O
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Expanding the equations:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
d -> sqrt(x^2 + y^2)
|
|
|
|
|
|
|
|
h -> sqrt(4 * r^2 - x^2 - y^2)/2
|
|
|
|
|
|
|
|
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
|
|
|
|
|
|
|
|
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Which can be written:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
|
|
|
|
|
|
|
|
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Which we for size and speed reasons optimize to:
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
|
|
|
|
|
|
|
|
i = (x - (y * h_x2_div_d))/2
|
|
|
|
|
|
|
|
j = (y + (x * h_x2_div_d))/2
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Calculate the change in position along each selected axis
|
|
|
|
|
|
|
|
double x = target[gc.plane_axis_0]-gc.position[gc.plane_axis_0];
|
|
|
|
|
|
|
|
double y = target[gc.plane_axis_1]-gc.position[gc.plane_axis_1];
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
clear_vector(offset);
|
|
|
|
|
|
|
|
double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
|
|
|
|
|
|
|
|
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
|
|
|
|
|
|
|
|
// real CNC, and thus - for practical reasons - we will terminate promptly:
|
|
|
|
|
|
|
|
if(isnan(h_x2_div_d)) { FAIL(STATUS_FLOATING_POINT_ERROR); return(gc.status_code); }
|
|
|
|
|
|
|
|
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
|
|
|
|
|
|
|
|
if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
|
|
|
|
|
|
|
|
the left hand circle will be generated - when it is negative the right hand circle is generated.
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
T <-- Target position
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
^
|
|
|
|
|
|
|
|
Clockwise circles with this center | Clockwise circles with this center will have
|
|
|
|
|
|
|
|
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
|
|
|
|
|
|
|
|
\ | /
|
|
|
|
|
|
|
|
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
C <-- Current position */
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
|
|
|
|
|
|
|
|
// even though it is advised against ever generating such circles in a single line of g-code. By
|
|
|
|
|
|
|
|
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
|
|
|
|
|
|
|
|
// travel and thus we get the unadvisably long arcs as prescribed.
|
|
|
|
|
|
|
|
if (r < 0) {
|
|
|
|
|
|
|
|
h_x2_div_d = -h_x2_div_d;
|
|
|
|
|
|
|
|
r = -r; // Finished with r. Set to positive for mc_arc
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// Complete the operation by calculating the actual center of the arc
|
|
|
|
|
|
|
|
offset[gc.plane_axis_0] = 0.5*(x-(y*h_x2_div_d));
|
|
|
|
|
|
|
|
offset[gc.plane_axis_1] = 0.5*(y+(x*h_x2_div_d));
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
} else { // Offset mode specific computations
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
|
|
|
|
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
|
|
|
|
|
|
|
|
|
|
|
|
// }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Set clockwise/counter-clockwise sign for mc_arc computations
|
|
|
|
|
|
|
|
// uint8_t isclockwise = false;
|
|
|
|
|
|
|
|
// if (gc.motion_mode == MOTION_MODE_CW_ARC) { isclockwise = true; }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// Trace the arc
|
|
|
|
// Trace the arc
|
|
|
|
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise);
|
|
|
|
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise);
|
|
|
|
|
|
|
|
|
|
|
|
// }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// As far as the parser is concerned, the position is now == target. In reality the
|
|
|
|
// As far as the parser is concerned, the position is now == target. In reality the
|
|
|
|
// motion control system might still be processing the action and the real tool position
|
|
|
|
// motion control system might still be processing the action and the real tool position
|
|
|
|
// in any intermediate location.
|
|
|
|
// in any intermediate location.
|
|
|
|
for(int ii=0; ii < NUM_AXIS; ii++) {
|
|
|
|
for(int i=0; i < NUM_AXIS; i++) {
|
|
|
|
current_position[ii] = destination[ii];
|
|
|
|
current_position[i] = destination[i];
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
Bernhard Kubicek
13 years ago