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gcode_arcs: Minor cleanup of planArc() 

Fix linear_travel optimization.  Use "2*pi" instead of "radians(360)".
Always emit at least one segment and always end at the final target
coordinates.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-22 17:36:58 -04:00
parent 402110f655
commit fc627ec470
1 changed files with 27 additions and 42 deletions
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67
klippy/extras/gcode_arcs.py
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@ -44,10 +44,6 @@ class ArcSupport:
# Build list of linear coordinates to move to
coords = self.planArc(currentPos, [asX, asY, asZ], [asI, asJ],
clockwise)
if not coords:
self.gcode.respond_info("G2/G3 could not translate '%s'"
% (params['#original'],))
return
e_per_move = e_base = 0.
if asE is not None:
if gcodestatus['absolute_extrude']:
@ -71,69 +67,58 @@ class ArcSupport:
# Arcs smaller then this value, will be a Line only
def planArc(self, currentPos, targetPos, offset, clockwise):
# todo: sometimes produces full circles
coords = []
MM_PER_ARC_SEGMENT = self.mm_per_arc_segment
X_AXIS = 0
Y_AXIS = 1
Z_AXIS = 2
# Radius vector from center to current location
r_P = offset[0]*-1
r_Q = offset[1]*-1
r_P = -offset[0]
r_Q = -offset[1]
radius = math.hypot(r_P, r_Q)
# Determine angular travel
center_P = currentPos[X_AXIS] - r_P
center_Q = currentPos[Y_AXIS] - r_Q
rt_X = targetPos[X_AXIS] - center_P
rt_Y = targetPos[Y_AXIS] - center_Q
linear_travel = targetPos[Z_AXIS] - currentPos[Z_AXIS]
angular_travel = math.atan2(r_P * rt_Y - r_Q * rt_X,
r_P * rt_X + r_Q * rt_Y)
if (angular_travel < 0): angular_travel+= math.radians(360)
if (clockwise): angular_travel-= math.radians(360)
if angular_travel < 0.:
angular_travel += 2. * math.pi
if clockwise:
angular_travel -= 2. * math.pi
# Make a circle if the angular rotation is 0
# and the target is current position
if (angular_travel == 0
if (angular_travel == 0.
and currentPos[X_AXIS] == targetPos[X_AXIS]
and currentPos[Y_AXIS] == targetPos[Y_AXIS]):
angular_travel = math.radians(360)
# Make a circle if the angular rotation is 0 and the
# target is current position
angular_travel = 2. * math.pi
# Determine number of segments
linear_travel = targetPos[Z_AXIS] - currentPos[Z_AXIS]
radius = math.hypot(r_P, r_Q)
flat_mm = radius * angular_travel
mm_of_travel = linear_travel
if(mm_of_travel == linear_travel):
if linear_travel:
mm_of_travel = math.hypot(flat_mm, linear_travel)
else:
mm_of_travel = math.abs(flat_mm)
mm_of_travel = math.fabs(flat_mm)
segments = max(1., math.floor(mm_of_travel / self.mm_per_arc_segment))
if (mm_of_travel < 0.001):
return coords
segments = int(math.floor(mm_of_travel / (MM_PER_ARC_SEGMENT)))
if(segments<1):
segments=1
raw = [0.,0.,0.,0.]
theta_per_segment = float(angular_travel / segments)
linear_per_segment = float(linear_travel / segments)
# Initialize the linear axis
raw[Z_AXIS] = currentPos[Z_AXIS];
for i in range(1,segments+1):
# Generate coordinates
theta_per_segment = angular_travel / segments
linear_per_segment = linear_travel / segments
coords = []
for i in range(1, int(segments)):
dist_Z = i * linear_per_segment
cos_Ti = math.cos(i * theta_per_segment)
sin_Ti = math.sin(i * theta_per_segment)
r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti
r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti
raw[X_AXIS] = center_P + r_P
raw[Y_AXIS] = center_Q + r_Q
raw[Z_AXIS] += linear_per_segment
coords.append([raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] ])
c = [center_P + r_P, center_Q + r_Q, currentPos[Z_AXIS] + dist_Z]
coords.append(c)
coords.append(targetPos)
return coords
def load_config(config):