diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-02-20 12:55:54 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-02-20 12:55:54 +0300 |
| commit | 9a97cb757731ab7fb6d624ddaf3dd6445e4538a6 (patch) | |
| tree | d8807b48729a88a5ba292d6b0ac2a773f3c8b7a2 /src/GCodes | |
| parent | 161de091a2ff7c4506b33132d8d6a7badcb1835f (diff) | |
Added option to configure segmentation on all kinematics
Diffstat (limited to 'src/GCodes')
| -rw-r--r-- | src/GCodes/GCodes.cpp | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index 8f77735e..577f5f4b 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -2426,6 +2426,7 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise, const char *& err) moveBuffer.arcAxis0 = axis0; moveBuffer.arcAxis1 = axis1; moveBuffer.doingArcMove = true; + moveBuffer.xyPlane = (selectedPlane == 0); FinaliseMove(gb); UnlockAll(gb); // allow pause // debugPrintf("Radius %.2f, initial angle %.1f, increment %.1f, segments %u\n", @@ -2542,21 +2543,21 @@ bool GCodes::ReadMove(RawMove& m) noexcept { // Do the full calculation moveBuffer.segmentsTillNextFullCalc = SegmentsPerFulArcCalculation; - moveBuffer.sine = sinf(moveBuffer.arcCurrentAngle); - moveBuffer.cosine = cosf(moveBuffer.arcCurrentAngle); + moveBuffer.currentAngleCosine = cosf(moveBuffer.arcCurrentAngle); + moveBuffer.currentAngleSine = sinf(moveBuffer.arcCurrentAngle); } else { // Speed up the computation by doing two multiplications and an addition or subtraction instead of a sine or cosine --moveBuffer.segmentsTillNextFullCalc; - const float newCosine = moveBuffer.cosine * moveBuffer.angleIncrementCosine - moveBuffer.sine * moveBuffer.angleIncrementSine; - const float newSine = moveBuffer.sine * moveBuffer.angleIncrementCosine + moveBuffer.cosine * moveBuffer.angleIncrementSine; - moveBuffer.cosine = newCosine; - moveBuffer.sine = newSine; + const float newCosine = moveBuffer.currentAngleCosine * moveBuffer.angleIncrementCosine - moveBuffer.currentAngleSine * moveBuffer.angleIncrementSine; + const float newSine = moveBuffer.currentAngleSine * moveBuffer.angleIncrementCosine + moveBuffer.currentAngleCosine * moveBuffer.angleIncrementSine; + moveBuffer.currentAngleCosine = newCosine; + moveBuffer.currentAngleSine = newSine; } axisMap0 = Tool::GetAxisMapping(moveBuffer.tool, moveBuffer.arcAxis0); axisMap1 = Tool::GetAxisMapping(moveBuffer.tool, moveBuffer.arcAxis1); - moveBuffer.cosXyAngle = moveBuffer.angleIncrementCosine; + moveBuffer.cosXyAngle = (moveBuffer.xyPlane) ? moveBuffer.angleIncrementCosine : 1.0; } for (size_t drive = 0; drive < numVisibleAxes; ++drive) @@ -2564,12 +2565,12 @@ bool GCodes::ReadMove(RawMove& m) noexcept if (moveBuffer.doingArcMove && axisMap1.IsBitSet(drive)) { // Axis1 or a substitute in the selected plane - moveBuffer.initialCoords[drive] = moveBuffer.arcCentre[drive] + moveBuffer.arcRadius * axisScaleFactors[drive] * moveBuffer.sine; + moveBuffer.initialCoords[drive] = moveBuffer.arcCentre[drive] + moveBuffer.arcRadius * axisScaleFactors[drive] * moveBuffer.currentAngleSine; } else if (moveBuffer.doingArcMove && axisMap0.IsBitSet(drive)) { // Axis0 or a substitute in the selected plane - moveBuffer.initialCoords[drive] = moveBuffer.arcCentre[drive] + moveBuffer.arcRadius * axisScaleFactors[drive] * moveBuffer.cosine; + moveBuffer.initialCoords[drive] = moveBuffer.arcCentre[drive] + moveBuffer.arcRadius * axisScaleFactors[drive] * moveBuffer.currentAngleCosine; } else { |