From 5c5936508da9a94b547f226da132e1f8c6859b97 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 19 Jul 2015 10:48:20 -0700 Subject: [PATCH] G2/G3 Arcs for Delta - Update prepare_move_delta to take a target argument - Add Delta support to plan_arc --- Marlin/Marlin_main.cpp | 56 ++++++++++++++++++++++++++++-------------- 1 file changed, 38 insertions(+), 18 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 3c4e5dbb7..bffdadf6f 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -410,6 +410,8 @@ bool target_direction; void process_next_command(); +void plan_arc(float target[NUM_AXIS], float *offset, uint8_t clockwise); + bool setTargetedHotend(int code); void serial_echopair_P(const char *s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); } @@ -1895,9 +1897,9 @@ inline void gcode_G0_G1() { * options for G2/G3 arc generation. In future these options may be GCode tunable. */ void plan_arc( - float *target, // Destination position - float *offset, // Center of rotation relative to current_position - uint8_t clockwise // Clockwise? + float target[NUM_AXIS], // Destination position + float *offset, // Center of rotation relative to current_position + uint8_t clockwise // Clockwise? ) { float radius = hypot(offset[X_AXIS], offset[Y_AXIS]), @@ -1957,7 +1959,7 @@ void plan_arc( float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation float sin_T = theta_per_segment; - float arc_target[4]; + float arc_target[NUM_AXIS]; float sin_Ti; float cos_Ti; float r_axisi; @@ -1998,10 +2000,28 @@ void plan_arc( arc_target[E_AXIS] += extruder_per_segment; clamp_to_software_endstops(arc_target); - plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + + #if defined(DELTA) || defined(SCARA) + calculate_delta(arc_target); + #ifdef ENABLE_AUTO_BED_LEVELING + adjust_delta(arc_target); + #endif + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + #else + plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder); + #endif } + // Ensure last segment arrives at target location. - plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); + #if defined(DELTA) || defined(SCARA) + calculate_delta(target); + #ifdef ENABLE_AUTO_BED_LEVELING + adjust_delta(target); + #endif + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); + #else + plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder); + #endif // 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 @@ -6074,9 +6094,9 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ #if defined(DELTA) || defined(SCARA) - inline bool prepare_move_delta() { + inline bool prepare_move_delta(float target[NUM_AXIS]) { float difference[NUM_AXIS]; - for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; + for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i]; float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); @@ -6093,22 +6113,22 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ float fraction = float(s) / float(steps); for (int8_t i = 0; i < NUM_AXIS; i++) - destination[i] = current_position[i] + difference[i] * fraction; + target[i] = current_position[i] + difference[i] * fraction; - calculate_delta(destination); + calculate_delta(target); #ifdef ENABLE_AUTO_BED_LEVELING - adjust_delta(destination); + adjust_delta(target); #endif - //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); - //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); - //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]); + //SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]); + //SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]); + //SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]); //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]); //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]); - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } return true; } @@ -6116,7 +6136,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ #endif // DELTA || SCARA #ifdef SCARA - inline bool prepare_move_scara() { return prepare_move_delta(); } + inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); } #endif #ifdef DUAL_X_CARRIAGE @@ -6193,9 +6213,9 @@ void prepare_move() { #endif #ifdef SCARA - if (!prepare_move_scara()) return; + if (!prepare_move_scara(destination)) return; #elif defined(DELTA) - if (!prepare_move_delta()) return; + if (!prepare_move_delta(destination)) return; #endif #ifdef DUAL_X_CARRIAGE