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🐛 Fixes for G2/G3 arcs (#26170)

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Yuri D'Elia 2023-08-21 21:39:49 +02:00 committed by GitHub
parent d1803ec044
commit d69ce77503
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1 changed files with 64 additions and 66 deletions
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130
Marlin/src/gcode/motion/G2_G3.cpp
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@ -82,14 +82,17 @@ void plan_arc(
rt_X = cart[axis_p] - center_P, rt_X = cart[axis_p] - center_P,
rt_Y = cart[axis_q] - center_Q; rt_Y = cart[axis_q] - center_Q;
ARC_LIJKUVW_CODE( // Starting position of the move for all non-arc axes
const float start_L = current_position[axis_l], // i.e., only one of X, Y, or Z, plus the rest.
const float start_I = current_position.i, ARC_LIJKUVWE_CODE(
const float start_J = current_position.j, float start_L = current_position[axis_l],
const float start_K = current_position.k, float start_I = current_position.i,
const float start_U = current_position.u, float start_J = current_position.j,
const float start_V = current_position.v, float start_K = current_position.k,
const float start_W = current_position.w float start_U = current_position.u,
float start_V = current_position.v,
float start_W = current_position.w,
float start_E = current_position.e
); );
// Angle of rotation between position and target from the circle center. // Angle of rotation between position and target from the circle center.
@ -125,6 +128,7 @@ void plan_arc(
min_segments = CEIL((MIN_CIRCLE_SEGMENTS) * portion_of_circle); // Minimum segments for the arc min_segments = CEIL((MIN_CIRCLE_SEGMENTS) * portion_of_circle); // Minimum segments for the arc
} }
// Total travel on all the non-arc axes
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
float travel_L = cart[axis_l] - start_L, float travel_L = cart[axis_l] - start_L,
float travel_I = cart.i - start_I, float travel_I = cart.i - start_I,
@ -133,7 +137,7 @@ void plan_arc(
float travel_U = cart.u - start_U, float travel_U = cart.u - start_U,
float travel_V = cart.v - start_V, float travel_V = cart.v - start_V,
float travel_W = cart.w - start_W, float travel_W = cart.w - start_W,
float travel_E = cart.e - current_position.e float travel_E = cart.e - start_E
); );
// If "P" specified circles, call plan_arc recursively then continue with the rest of the arc // If "P" specified circles, call plan_arc recursively then continue with the rest of the arc
@ -166,15 +170,29 @@ void plan_arc(
); );
plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
} }
// Get starting coordinates for the remainder from the current position
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
travel_L = cart[axis_l] - current_position[axis_l], // Linear X, Y, or Z start_L = current_position[axis_l],
travel_I = cart.i - current_position.i, // The rest are also non-arc start_I = current_position.i,
travel_J = cart.j - current_position.j, start_J = current_position.j,
travel_K = cart.k - current_position.k, start_K = current_position.k,
travel_U = cart.u - current_position.u, start_U = current_position.u,
travel_V = cart.v - current_position.v, start_V = current_position.v,
travel_W = cart.w - current_position.w, start_W = current_position.w,
travel_E = cart.e - current_position.e start_E = current_position.e
);
// Update travel distance for the remainder
ARC_LIJKUVWE_CODE(
travel_L = cart[axis_l] - start_L, // Linear X, Y, or Z
travel_I = cart.i - start_I, // The rest are also non-arc
travel_J = cart.j - start_J,
travel_K = cart.k - start_K,
travel_U = cart.u - start_U,
travel_V = cart.v - start_V,
travel_W = cart.w - start_W,
travel_E = cart.e - start_E
); );
} }
@ -256,7 +274,7 @@ void plan_arc(
xyze_pos_t raw; xyze_pos_t raw;
// do not calculate rotation parameters for trivial single-segment arcs // Don't calculate rotation parameters for trivial single-segment arcs
if (segments > 1) { if (segments > 1) {
// Vector rotation matrix values // Vector rotation matrix values
const float theta_per_segment = angular_travel / segments, const float theta_per_segment = angular_travel / segments,
@ -264,30 +282,27 @@ void plan_arc(
sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6, sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
#if DISABLED(AUTO_BED_LEVELING_UBL) ARC_LIJKUVWE_CODE(
ARC_LIJKUVW_CODE( const float per_segment_L = travel_L / segments,
const float per_segment_L = travel_L / segments, const float per_segment_I = travel_I / segments,
const float per_segment_I = travel_I / segments, const float per_segment_J = travel_J / segments,
const float per_segment_J = travel_J / segments, const float per_segment_K = travel_K / segments,
const float per_segment_K = travel_K / segments, const float per_segment_U = travel_U / segments,
const float per_segment_U = travel_U / segments, const float per_segment_V = travel_V / segments,
const float per_segment_V = travel_V / segments, const float per_segment_W = travel_W / segments,
const float per_segment_W = travel_W / segments const float per_segment_E = travel_E / segments
); );
#endif
CODE_ITEM_E(const float extruder_per_segment = travel_E / segments);
// Initialize all linear axes and E // Initialize all linear axes and E
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
raw[axis_l] = current_position[axis_l], raw[axis_l] = start_L,
raw.i = current_position.i, raw.i = start_I,
raw.j = current_position.j, raw.j = start_J,
raw.k = current_position.k, raw.k = start_K,
raw.u = current_position.u, raw.u = start_U,
raw.v = current_position.v, raw.v = start_V,
raw.w = current_position.w, raw.w = start_W,
raw.e = current_position.e raw.e = start_E
); );
millis_t next_idle_ms = millis() + 200UL; millis_t next_idle_ms = millis() + 200UL;
@ -305,7 +320,6 @@ void plan_arc(
const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]), const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_feedrate_mm_s[axis_q]), limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_feedrate_mm_s[axis_q]),
limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius, sq(scaled_fr_mm_s)); limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius, sq(scaled_fr_mm_s));
float arc_mm_remaining = flat_mm;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
@ -343,16 +357,14 @@ void plan_arc(
raw[axis_p] = center_P + rvec.a; raw[axis_p] = center_P + rvec.a;
raw[axis_q] = center_Q + rvec.b; raw[axis_q] = center_Q + rvec.b;
ARC_LIJKUVWE_CODE( ARC_LIJKUVWE_CODE(
#if ENABLED(AUTO_BED_LEVELING_UBL) raw[axis_l] = start_L + per_segment_L * i,
raw[axis_l] = start_L, raw.i = start_I + per_segment_I * i,
raw.i = start_I, raw.j = start_J, raw.k = start_K, raw.j = start_J + per_segment_J * i,
raw.u = start_U, raw.v = start_V, raw.w = start_V raw.k = start_K + per_segment_K * i,
#else raw.u = start_U + per_segment_U * i,
raw[axis_l] += per_segment_L, raw.v = start_V + per_segment_V * i,
raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K, raw.w = start_W + per_segment_W * i,
raw.u += per_segment_U, raw.v += per_segment_V, raw.w += per_segment_W raw.e = start_E + per_segment_E * i
#endif
, raw.e += extruder_per_segment
); );
apply_motion_limits(raw); apply_motion_limits(raw);
@ -362,7 +374,7 @@ void plan_arc(
#endif #endif
// calculate safe speed for stopping by the end of the arc // calculate safe speed for stopping by the end of the arc
arc_mm_remaining -= segment_mm; const float arc_mm_remaining = flat_mm - segment_mm * i;
hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining); hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining);
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints)) if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints))
@ -374,13 +386,6 @@ void plan_arc(
// Ensure last segment arrives at target location. // Ensure last segment arrives at target location.
raw = cart; raw = cart;
#if ENABLED(AUTO_BED_LEVELING_UBL)
ARC_LIJKUVW_CODE(
raw[axis_l] = start_L,
raw.i = start_I, raw.j = start_J, raw.k = start_K,
raw.u = start_U, raw.v = start_V, raw.w = start_W
);
#endif
apply_motion_limits(raw); apply_motion_limits(raw);
@ -392,14 +397,7 @@ void plan_arc(
hints.safe_exit_speed_sqr = 0.0f; hints.safe_exit_speed_sqr = 0.0f;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
#if ENABLED(AUTO_BED_LEVELING_UBL) current_position = cart;
ARC_LIJKUVW_CODE(
raw[axis_l] = start_L,
raw.i = start_I, raw.j = start_J, raw.k = start_K,
raw.u = start_U, raw.v = start_V, raw.w = start_W
);
#endif
current_position = raw;
} // plan_arc } // plan_arc