Merge pull request #4840 from thinkyhead/rc_G2_G3_arc_r_method
Add support for G2/G3 with R parameter
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commit
2b7cc27c37
2 changed files with 51 additions and 9 deletions
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@ -2590,6 +2590,25 @@ inline void gcode_G0_G1(
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/**
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/**
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* G2: Clockwise Arc
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* G2: Clockwise Arc
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* G3: Counterclockwise Arc
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* G3: Counterclockwise Arc
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*
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* This command has two forms: IJ-form and R-form.
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*
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* - I specifies an X offset. J specifies a Y offset.
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* At least one of the IJ parameters is required.
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* X and Y can be omitted to do a complete circle.
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* The given XY is not error-checked. The arc ends
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* based on the angle of the destination.
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* Mixing I or J with R will throw an error.
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*
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* - R specifies the radius. X or Y is required.
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* Omitting both X and Y will throw an error.
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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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*
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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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*/
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#if ENABLED(ARC_SUPPORT)
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#if ENABLED(ARC_SUPPORT)
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inline void gcode_G2_G3(bool clockwise) {
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inline void gcode_G2_G3(bool clockwise) {
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@ -2606,17 +2625,39 @@ inline void gcode_G0_G1(
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relative_mode = relative_mode_backup;
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relative_mode = relative_mode_backup;
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#endif
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#endif
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// Center of arc as offset from current_position
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float arc_offset[2] = { 0.0, 0.0 };
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float arc_offset[2] = {
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if (code_seen('R')) {
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code_seen('I') ? code_value_axis_units(X_AXIS) : 0,
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const float r = code_value_axis_units(X_AXIS),
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code_seen('J') ? code_value_axis_units(Y_AXIS) : 0
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x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
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};
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x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
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if (r && (x2 != x1 || y2 != y1)) {
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const float e = clockwise ? -1 : 1, // clockwise -1, counterclockwise 1
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dx = x2 - x1, dy = y2 - y1, // X and Y differences
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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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mx = (x1 + x2) * 0.5, my = (y1 + y2) * 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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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[Y_AXIS] = cy - y1;
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}
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}
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else {
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if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
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if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
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}
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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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// Send an 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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else {
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// Bad arguments
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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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}
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}
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}
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#endif
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#endif
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@ -150,6 +150,7 @@
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#define MSG_ERR_MATERIAL_INDEX "M145 S<index> out of range (0-1)"
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#define MSG_ERR_MATERIAL_INDEX "M145 S<index> out of range (0-1)"
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#define MSG_ERR_M421_PARAMETERS "M421 requires XYZ or IJZ parameters"
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#define MSG_ERR_M421_PARAMETERS "M421 requires XYZ or IJZ parameters"
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#define MSG_ERR_MESH_XY "Mesh XY or IJ cannot be resolved"
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#define MSG_ERR_MESH_XY "Mesh XY or IJ cannot be resolved"
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#define MSG_ERR_ARC_ARGS "G2/G3 bad parameters"
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#define MSG_ERR_M428_TOO_FAR "Too far from reference point"
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#define MSG_ERR_M428_TOO_FAR "Too far from reference point"
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#define MSG_ERR_M303_DISABLED "PIDTEMP disabled"
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#define MSG_ERR_M303_DISABLED "PIDTEMP disabled"
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#define MSG_M119_REPORT "Reporting endstop status"
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#define MSG_M119_REPORT "Reporting endstop status"
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