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@ -54,6 +54,9 @@
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* G10 - Retract filament according to settings of M207
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* G10 - Retract filament according to settings of M207
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* G11 - Retract recover filament according to settings of M208
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* G11 - Retract recover filament according to settings of M208
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* G12 - Clean tool
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* G12 - Clean tool
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* G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
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* G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
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* G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
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* G20 - Set input units to inches
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* G20 - Set input units to inches
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* G21 - Set input units to millimeters
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* G21 - Set input units to millimeters
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* G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
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* G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
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@ -688,6 +691,10 @@ static bool send_ok[BUFSIZE];
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millis_t lastUpdateMillis;
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millis_t lastUpdateMillis;
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#endif
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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static WorkspacePlane workspace_plane = PLANE_XY;
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#endif
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FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
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FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
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FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
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FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
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@ -3264,6 +3271,9 @@ inline void gcode_G0_G1(
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* X or Y must differ from the current XY.
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* X or Y must differ from the current XY.
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* Mixing R with I or J will throw an error.
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* Mixing R with I or J will throw an error.
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*
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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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* Examples:
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*
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*
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* G2 I10 ; CW circle centered at X+10
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* G2 I10 ; CW circle centered at X+10
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@ -3288,27 +3298,39 @@ inline void gcode_G0_G1(
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float arc_offset[2] = { 0.0, 0.0 };
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float arc_offset[2] = { 0.0, 0.0 };
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if (parser.seen('R')) {
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if (parser.seen('R')) {
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const float r = parser.value_linear_units(),
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const float r = parser.value_linear_units(),
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x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
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p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
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x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
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p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
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if (r && (x2 != x1 || y2 != y1)) {
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if (r && (p2 != p1 || q2 != q1)) {
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
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dx = x2 - x1, dy = y2 - y1, // X and Y differences
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dx = p2 - p1, dy = q2 - q1, // X and Y differences
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d = HYPOT(dx, dy), // Linear distance between the points
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d = HYPOT(dx, dy), // Linear distance between the points
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h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
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h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
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mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
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mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
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sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
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sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
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cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
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cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
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arc_offset[X_AXIS] = cx - x1;
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arc_offset[0] = cx - p1;
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arc_offset[Y_AXIS] = cy - y1;
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arc_offset[1] = cy - q1;
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}
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}
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}
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}
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else {
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else {
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if (parser.seen('I')) arc_offset[X_AXIS] = parser.value_linear_units();
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if (parser.seen('I')) arc_offset[0] = parser.value_linear_units();
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if (parser.seen('J')) arc_offset[Y_AXIS] = parser.value_linear_units();
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if (parser.seen('J')) arc_offset[1] = parser.value_linear_units();
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}
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}
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if (arc_offset[0] || arc_offset[1]) {
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if (arc_offset[0] || arc_offset[1]) {
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// Send an arc to the planner
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#if ENABLED(ARC_P_CIRCLES)
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// P indicates number of circles to do
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int8_t circles_to_do = parser.seen('P') ? parser.value_byte() : 0;
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if (!WITHIN(circles_to_do, 0, 100)) {
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SERIAL_ERROR_START();
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SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
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}
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while (circles_to_do--)
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plan_arc(current_position, arc_offset, clockwise);
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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);
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plan_arc(destination, arc_offset, clockwise);
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refresh_cmd_timeout();
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refresh_cmd_timeout();
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}
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}
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@ -3408,6 +3430,25 @@ inline void gcode_G4() {
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}
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}
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#endif
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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void report_workspace_plane() {
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SERIAL_ECHO_START();
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SERIAL_ECHOPGM("Workspace Plane ");
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serialprintPGM(workspace_plane == PLANE_YZ ? PSTR("YZ\n") : workspace_plane == PLANE_ZX ? PSTR("ZX\n") : PSTR("XY\n"));
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}
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/**
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* G17: Select Plane XY
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* G18: Select Plane ZX
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* G19: Select Plane YZ
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*/
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inline void gcode_G17() { workspace_plane = PLANE_XY; }
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inline void gcode_G18() { workspace_plane = PLANE_ZX; }
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inline void gcode_G19() { workspace_plane = PLANE_YZ; }
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#endif // CNC_WORKSPACE_PLANES
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#if ENABLED(INCH_MODE_SUPPORT)
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#if ENABLED(INCH_MODE_SUPPORT)
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/**
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/**
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* G20: Set input mode to inches
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* G20: Set input mode to inches
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@ -3722,6 +3763,10 @@ inline void gcode_G28(const bool always_home_all) {
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set_bed_leveling_enabled(false);
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set_bed_leveling_enabled(false);
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#endif
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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workspace_plane = PLANE_XY;
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#endif
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// Always home with tool 0 active
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// Always home with tool 0 active
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#if HOTENDS > 1
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#if HOTENDS > 1
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const uint8_t old_tool_index = active_extruder;
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const uint8_t old_tool_index = active_extruder;
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@ -10311,6 +10356,18 @@ void process_next_command() {
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break;
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break;
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#endif // NOZZLE_CLEAN_FEATURE
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#endif // NOZZLE_CLEAN_FEATURE
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#if ENABLED(CNC_WORKSPACE_PLANES)
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case 17: // G17: Select Plane XY
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gcode_G17();
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break;
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case 18: // G18: Select Plane ZX
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gcode_G18();
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break;
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case 19: // G19: Select Plane YZ
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gcode_G19();
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break;
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#endif // CNC_WORKSPACE_PLANES
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#if ENABLED(INCH_MODE_SUPPORT)
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#if ENABLED(INCH_MODE_SUPPORT)
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case 20: //G20: Inch Mode
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case 20: //G20: Inch Mode
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gcode_G20();
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gcode_G20();
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@ -11922,6 +11979,12 @@ void prepare_move_to_destination() {
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}
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}
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#if ENABLED(ARC_SUPPORT)
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#if ENABLED(ARC_SUPPORT)
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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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/**
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* Plan an arc in 2 dimensions
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* Plan an arc in 2 dimensions
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*
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*
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@ -11936,26 +11999,36 @@ void prepare_move_to_destination() {
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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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#if ENABLED(CNC_WORKSPACE_PLANES)
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AxisEnum p_axis, q_axis, l_axis;
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switch (workspace_plane) {
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case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
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case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
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case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_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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float r_X = -offset[X_AXIS], // Radius vector from center to current location
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// Radius vector from center to current location
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r_Y = -offset[Y_AXIS];
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float r_P = -offset[0], r_Q = -offset[1];
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const float radius = HYPOT(r_X, r_Y),
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const float radius = HYPOT(r_P, r_Q),
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center_X = current_position[X_AXIS] - r_X,
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center_P = current_position[p_axis] - r_P,
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center_Y = current_position[Y_AXIS] - r_Y,
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center_Q = current_position[q_axis] - r_Q,
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rt_X = logical[X_AXIS] - center_X,
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rt_X = logical[p_axis] - center_P,
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rt_Y = logical[Y_AXIS] - center_Y,
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rt_Y = logical[q_axis] - center_Q,
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linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
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linear_travel = logical[l_axis] - current_position[l_axis],
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extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
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extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
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// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
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// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
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float angular_travel = ATAN2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
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float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
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if (angular_travel < 0) angular_travel += RADIANS(360);
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if (angular_travel < 0) angular_travel += RADIANS(360);
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if (clockwise) angular_travel -= RADIANS(360);
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if (clockwise) angular_travel -= RADIANS(360);
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// Make a circle if the angular rotation is 0
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// Make a circle if the angular rotation is 0 and the target is current position
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if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
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if (angular_travel == 0 && current_position[p_axis] == logical[p_axis] && current_position[q_axis] == logical[q_axis])
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angular_travel += RADIANS(360);
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angular_travel = RADIANS(360);
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const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
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const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
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if (mm_of_travel < 0.001) return;
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if (mm_of_travel < 0.001) return;
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@ -11998,7 +12071,7 @@ void prepare_move_to_destination() {
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cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
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cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
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// Initialize the linear axis
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// Initialize the linear axis
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arc_target[Z_AXIS] = current_position[Z_AXIS];
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arc_target[l_axis] = current_position[l_axis];
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// Initialize the extruder axis
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// Initialize the extruder axis
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arc_target[E_AXIS] = current_position[E_AXIS];
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arc_target[E_AXIS] = current_position[E_AXIS];
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@ -12007,7 +12080,10 @@ void prepare_move_to_destination() {
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millis_t next_idle_ms = millis() + 200UL;
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millis_t next_idle_ms = millis() + 200UL;
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int8_t count = 0;
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#if N_ARC_CORRECTION > 1
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int8_t 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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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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thermalManager.manage_heater();
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@ -12016,28 +12092,33 @@ void prepare_move_to_destination() {
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idle();
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idle();
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}
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}
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if (++count < N_ARC_CORRECTION) {
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#if N_ARC_CORRECTION > 1
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// Apply vector rotation matrix to previous r_X / 1
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if (--count) {
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const float r_new_Y = r_X * sin_T + r_Y * cos_T;
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// Apply vector rotation matrix to previous r_P / 1
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r_X = r_X * cos_T - r_Y * sin_T;
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const float r_new_Y = r_P * sin_T + r_Q * cos_T;
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r_Y = r_new_Y;
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r_P = r_P * cos_T - r_Q * sin_T;
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}
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r_Q = r_new_Y;
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else {
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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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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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// 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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// 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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// 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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// For now, compute both at the same time.
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const float cos_Ti = cos(i * theta_per_segment),
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const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
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sin_Ti = sin(i * theta_per_segment);
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r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
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r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
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r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
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r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
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count = 0;
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}
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}
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// Update arc_target location
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// Update arc_target location
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arc_target[X_AXIS] = center_X + r_X;
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arc_target[p_axis] = center_P + r_P;
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arc_target[Y_AXIS] = center_Y + r_Y;
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arc_target[q_axis] = center_Q + r_Q;
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arc_target[Z_AXIS] += linear_per_segment;
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arc_target[l_axis] += linear_per_segment;
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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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Scott Lahteine
8 years ago