371 lines
14 KiB
C++
371 lines
14 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(ARC_SUPPORT)
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/planner.h"
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#include "../../module/temperature.h"
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#if ENABLED(DELTA)
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#include "../../module/delta.h"
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#elif ENABLED(SCARA)
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#include "../../module/scara.h"
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#endif
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#if N_ARC_CORRECTION < 1
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#undef N_ARC_CORRECTION
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#define N_ARC_CORRECTION 1
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#endif
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/**
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* Plan an arc in 2 dimensions, with optional linear motion in a 3rd dimension
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*
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* The arc is traced by generating many small linear segments, as configured by
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* MM_PER_ARC_SEGMENT (Default 1mm). In the future we hope more slicers will include
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* an option to generate G2/G3 arcs for curved surfaces, as this will allow faster
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* boards to produce much smoother curved surfaces.
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*/
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void plan_arc(
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const xyze_pos_t &cart, // Destination position
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const ab_float_t &offset, // Center of rotation relative to current_position
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const bool clockwise, // Clockwise?
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const uint8_t circles // Take the scenic route
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) {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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AxisEnum p_axis, q_axis, l_axis;
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switch (gcode.workspace_plane) {
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default:
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case GcodeSuite::PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
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case GcodeSuite::PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
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case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
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}
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#else
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constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
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#endif
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// Radius vector from center to current location
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ab_float_t rvec = -offset;
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const float radius = HYPOT(rvec.a, rvec.b),
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center_P = current_position[p_axis] - rvec.a,
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center_Q = current_position[q_axis] - rvec.b,
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rt_X = cart[p_axis] - center_P,
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rt_Y = cart[q_axis] - center_Q,
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start_L = current_position[l_axis];
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#ifdef MIN_ARC_SEGMENTS
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uint16_t min_segments = MIN_ARC_SEGMENTS;
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#else
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constexpr uint16_t min_segments = 1;
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#endif
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// Angle of rotation between position and target from the circle center.
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float angular_travel;
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// Do a full circle if starting and ending positions are "identical"
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if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
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// Preserve direction for circles
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angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
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}
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else {
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// Calculate the angle
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angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
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// Angular travel too small to detect? Just return.
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if (!angular_travel) return;
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// Make sure angular travel over 180 degrees goes the other way around.
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switch (((angular_travel < 0) << 1) | clockwise) {
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case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
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case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
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}
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#ifdef MIN_ARC_SEGMENTS
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min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
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NOLESS(min_segments, 1U);
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#endif
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}
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float linear_travel = cart[l_axis] - start_L,
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extruder_travel = cart.e - current_position.e;
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// If circling around...
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if (ENABLED(ARC_P_CIRCLES) && circles) {
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const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
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part_per_circle = RADIANS(360) / total_angular, // Each circle's part of the total
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l_per_circle = linear_travel * part_per_circle, // L movement per circle
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e_per_circle = extruder_travel * part_per_circle; // E movement per circle
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xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
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for (uint16_t n = circles; n--;) {
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temp_position.e += e_per_circle; // Destination E axis
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temp_position[l_axis] += l_per_circle; // Destination L axis
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plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
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}
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linear_travel = cart[l_axis] - current_position[l_axis];
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extruder_travel = cart.e - current_position.e;
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}
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const float flat_mm = radius * angular_travel,
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mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
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if (mm_of_travel < 0.001f) return;
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const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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// Start with a nominal segment length
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float seg_length = (
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#ifdef ARC_SEGMENTS_PER_R
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constrain(MM_PER_ARC_SEGMENT * radius, MM_PER_ARC_SEGMENT, ARC_SEGMENTS_PER_R)
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#elif ARC_SEGMENTS_PER_SEC
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_MAX(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MM_PER_ARC_SEGMENT)
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#else
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MM_PER_ARC_SEGMENT
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#endif
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);
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// Divide total travel by nominal segment length
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uint16_t segments = FLOOR(mm_of_travel / seg_length);
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NOLESS(segments, min_segments); // At least some segments
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seg_length = mm_of_travel / segments;
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/**
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* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
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* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
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* r_T = [cos(phi) -sin(phi);
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* sin(phi) cos(phi)] * r ;
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*
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* For arc generation, the center of the circle is the axis of rotation and the radius vector is
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* defined from the circle center to the initial position. Each line segment is formed by successive
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* vector rotations. This requires only two cos() and sin() computations to form the rotation
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* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
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* all double numbers are single precision on the Arduino. (True double precision will not have
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* round off issues for CNC applications.) Single precision error can accumulate to be greater than
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* tool precision in some cases. Therefore, arc path correction is implemented.
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*
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* Small angle approximation may be used to reduce computation overhead further. This approximation
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* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
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* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
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* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
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* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
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* issue for CNC machines with the single precision Arduino calculations.
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*
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* This approximation also allows plan_arc to immediately insert a line segment into the planner
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* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
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* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
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* This is important when there are successive arc motions.
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*/
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// Vector rotation matrix values
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xyze_pos_t raw;
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const float theta_per_segment = angular_travel / segments,
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linear_per_segment = linear_travel / segments,
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extruder_per_segment = extruder_travel / segments,
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sq_theta_per_segment = sq(theta_per_segment),
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sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
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cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
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// Initialize the linear axis
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raw[l_axis] = current_position[l_axis];
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// Initialize the extruder axis
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raw.e = current_position.e;
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float inv_duration = scaled_fr_mm_s / seg_length;
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#endif
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millis_t next_idle_ms = millis() + 200UL;
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#if N_ARC_CORRECTION > 1
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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#endif
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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if (ELAPSED(millis(), next_idle_ms)) {
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next_idle_ms = millis() + 200UL;
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idle();
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}
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#if N_ARC_CORRECTION > 1
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if (--arc_recalc_count) {
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// Apply vector rotation matrix to previous rvec.a / 1
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const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
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rvec.a = rvec.a * cos_T - rvec.b * sin_T;
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rvec.b = r_new_Y;
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}
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else
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#endif
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{
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#if N_ARC_CORRECTION > 1
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arc_recalc_count = N_ARC_CORRECTION;
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#endif
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
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// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
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// To reduce stuttering, the sin and cos could be computed at different times.
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// For now, compute both at the same time.
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const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
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rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
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rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
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}
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// Update raw location
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raw[p_axis] = center_P + rvec.a;
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raw[q_axis] = center_Q + rvec.b;
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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raw[l_axis] = start_L;
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UNUSED(linear_per_segment);
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#else
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raw[l_axis] += linear_per_segment;
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#endif
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raw.e += extruder_per_segment;
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apply_motion_limits(raw);
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#if HAS_LEVELING && !PLANNER_LEVELING
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planner.apply_leveling(raw);
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#endif
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if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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, inv_duration
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#endif
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)) break;
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}
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// Ensure last segment arrives at target location.
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raw = cart;
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TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
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apply_motion_limits(raw);
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#if HAS_LEVELING && !PLANNER_LEVELING
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planner.apply_leveling(raw);
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#endif
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planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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, inv_duration
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#endif
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);
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TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
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current_position = raw;
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} // plan_arc
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/**
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* G2: Clockwise Arc
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* G3: Counterclockwise Arc
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*
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* This command has two forms: IJ-form (JK, KI) and R-form.
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*
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* - Depending on the current Workspace Plane orientation,
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* use parameters IJ/JK/KI to specify the XY/YZ/ZX offsets.
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* At least one of the IJ/JK/KI parameters is required.
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* XY/YZ/ZX can be omitted to do a complete circle.
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* The given XY/YZ/ZX is not error-checked. The arc ends
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* based on the angle of the destination.
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* Mixing IJ/JK/KI with R will throw an error.
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*
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* - R specifies the radius. X or Y (Y or Z / Z or X) is required.
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* Omitting both XY/YZ/ZX will throw an error.
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* XY/YZ/ZX must differ from the current XY/YZ/ZX.
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* Mixing R with IJ/JK/KI will throw an error.
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*
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* - P specifies the number of full circles to do
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* before the specified arc move.
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*
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* Examples:
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*
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* G2 I10 ; CW circle centered at X+10
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* G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
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*/
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void GcodeSuite::G2_G3(const bool clockwise) {
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if (MOTION_CONDITIONS) {
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#if ENABLED(SF_ARC_FIX)
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const bool relative_mode_backup = relative_mode;
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relative_mode = true;
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#endif
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get_destination_from_command(); // Get X Y Z E F (and set cutter power)
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TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
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ab_float_t arc_offset = { 0, 0 };
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if (parser.seenval('R')) {
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const float r = parser.value_linear_units();
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if (r) {
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const xy_pos_t p1 = current_position, p2 = destination;
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if (p1 != p2) {
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const xy_pos_t d2 = (p2 - p1) * 0.5f; // XY vector to midpoint of move from current
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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len = d2.magnitude(), // Distance to mid-point of move from current
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h2 = (r - len) * (r + len), // factored to reduce rounding error
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h = (h2 >= 0) ? SQRT(h2) : 0.0f; // Distance to the arc pivot-point from midpoint
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const xy_pos_t s = { -d2.y, d2.x }; // Perpendicular bisector. (Divide by len for unit vector.)
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arc_offset = d2 + s / len * e * h; // The calculated offset (mid-point if |r| <= len)
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}
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}
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}
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else {
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#if ENABLED(CNC_WORKSPACE_PLANES)
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char achar, bchar;
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switch (gcode.workspace_plane) {
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default:
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case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
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case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
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case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
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}
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#else
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constexpr char achar = 'I', bchar = 'J';
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#endif
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if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
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if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
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}
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if (arc_offset) {
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#if ENABLED(ARC_P_CIRCLES)
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// P indicates number of circles to do
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const int8_t circles_to_do = parser.byteval('P');
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if (!WITHIN(circles_to_do, 0, 100))
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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#else
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constexpr uint8_t circles_to_do = 0;
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#endif
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// Send the arc to the planner
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plan_arc(destination, arc_offset, clockwise, circles_to_do);
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reset_stepper_timeout();
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}
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else
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SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
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}
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}
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#endif // ARC_SUPPORT
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