mirror of https://github.com/Desuuuu/klipper.git
127 lines
4.7 KiB
Python
127 lines
4.7 KiB
Python
# adds support fro ARC commands via G2/G3
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#
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# Copyright (C) 2019 Aleksej Vasiljkovic <achmed21@gmail.com>
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#
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# function planArc() originates from https://github.com/MarlinFirmware/Marlin
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# Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math
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# Coordinates created by this are converted into G1 commands.
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#
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# note: only IJ version available
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class ArcSupport:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0)
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command("G2", self.cmd_G2)
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self.gcode.register_command("G3", self.cmd_G2)
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def cmd_G2(self, gcmd):
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gcodestatus = self.gcode.get_status()
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if not gcodestatus['absolute_coordinates']:
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raise self.gcode.error("G2/G3 does not support relative move mode")
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currentPos = gcodestatus['gcode_position']
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# Parse parameters
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asX = gcmd.get_float("X", currentPos[0])
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asY = gcmd.get_float("Y", currentPos[1])
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asZ = gcmd.get_float("Z", currentPos[2])
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if gcmd.get_float("R", None) is not None:
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raise gcmd.error("G2/G3 does not support R moves")
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asI = gcmd.get_float("I", 0.)
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asJ = gcmd.get_float("J", 0.)
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if not asI and not asJ:
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raise gcmd.error("G2/G3 neither I nor J given")
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asE = gcmd.get_float("E", None)
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asF = gcmd.get_float("F", None)
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clockwise = (gcmd.get_command() == 'G2')
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# Build list of linear coordinates to move to
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coords = self.planArc(currentPos, [asX, asY, asZ], [asI, asJ],
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clockwise)
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e_per_move = e_base = 0.
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if asE is not None:
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if gcodestatus['absolute_extrude']:
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e_base = currentPos[3]
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e_per_move = (asE - e_base) / len(coords)
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# Convert coords into G1 commands
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for coord in coords:
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g1_params = {'X': coord[0], 'Y': coord[1], 'Z': coord[2]}
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if e_per_move:
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g1_params['E'] = e_base + e_per_move
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if asF is not None:
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g1_params['F'] = asF
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g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
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self.gcode.cmd_G1(g1_gcmd)
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# function planArc() originates from marlin plan_arc()
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# https://github.com/MarlinFirmware/Marlin
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#
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# The arc is approximated by generating many small linear segments.
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# The length of each segment is configured in MM_PER_ARC_SEGMENT
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# Arcs smaller then this value, will be a Line only
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def planArc(self, currentPos, targetPos, offset, clockwise):
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# todo: sometimes produces full circles
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X_AXIS = 0
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Y_AXIS = 1
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Z_AXIS = 2
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# Radius vector from center to current location
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r_P = -offset[0]
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r_Q = -offset[1]
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# Determine angular travel
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center_P = currentPos[X_AXIS] - r_P
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center_Q = currentPos[Y_AXIS] - r_Q
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rt_X = targetPos[X_AXIS] - center_P
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rt_Y = targetPos[Y_AXIS] - center_Q
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angular_travel = math.atan2(r_P * rt_Y - r_Q * rt_X,
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r_P * rt_X + r_Q * rt_Y)
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if angular_travel < 0.:
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angular_travel += 2. * math.pi
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if clockwise:
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angular_travel -= 2. * math.pi
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if (angular_travel == 0.
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and currentPos[X_AXIS] == targetPos[X_AXIS]
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and currentPos[Y_AXIS] == targetPos[Y_AXIS]):
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# Make a circle if the angular rotation is 0 and the
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# target is current position
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angular_travel = 2. * math.pi
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# Determine number of segments
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linear_travel = targetPos[Z_AXIS] - currentPos[Z_AXIS]
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radius = math.hypot(r_P, r_Q)
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flat_mm = radius * angular_travel
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if linear_travel:
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mm_of_travel = math.hypot(flat_mm, linear_travel)
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else:
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mm_of_travel = math.fabs(flat_mm)
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segments = max(1., math.floor(mm_of_travel / self.mm_per_arc_segment))
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# Generate coordinates
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theta_per_segment = angular_travel / segments
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linear_per_segment = linear_travel / segments
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coords = []
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for i in range(1, int(segments)):
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dist_Z = i * linear_per_segment
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cos_Ti = math.cos(i * theta_per_segment)
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sin_Ti = math.sin(i * theta_per_segment)
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r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti
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r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti
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c = [center_P + r_P, center_Q + r_Q, currentPos[Z_AXIS] + dist_Z]
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coords.append(c)
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coords.append(targetPos)
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return coords
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def load_config(config):
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return ArcSupport(config)
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