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1 files changed, 72 insertions, 46 deletions

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@@ -4,7 +4,33 @@ Converts G0/G1 GCode commands to G2/G3 (arc) commands and back again.  This can
 
 This software was designed for 3D printers but should also be useful in other cases.
 
-# Installation
+## Important Notes Regarding G2/G3 (arc) GCode Commands
+
+In order for ArcWelded gcode files to work on your printer, arcs must be enabled.  If these gcodes aren't enabled, the arc commands will be skipped, resulting in a mess.  I plan to add instructions for detecting whether or not arc gcodes are enabled in the future.
+
+### Gcode Visualization for G2/G3 (arc) GCode Commands
+
+Most gcode visualizers do NOT correctly display G2/G3 commands.  This will cause the output to look like a mess, but it does NOT mean the ArcWelded GCode commands are incorrect or broken.  It is likely that they will print just fine provided arc commands are enabled within your printer's firmware.'
+
+#### GCode Visualizers That Do NOT support G2/G3 commands
+
+Here are some common visualizers that do NOT support G2/G3 commands:  
+
+* Cura
+* PrusaSlicer
+* Slic3r
+* Slic3r PE
+* SuperSlicer
+
+#### GCode Visualizers that DO Support G2/G3
+Here are a few that DO support G2/G3 commands: 
+
+* Simplify3D
+* OctoPrint's built in 2D GCode Viewer
+* PrettyGCode plugin for OctoPrint
+* ncviewer.com - Note that this viewer has some issues with embedded thumbnails.  It sometimes renders certain gcodes as arcs or circles as well, which can cause confusion.  You can click on odd looking arcs and check out the gcode.  If it's not a G2/G3, it's just a rendering bug.
+
+## Installation
 
 Installation is a simple matter of downloading and extracting the latest release.  You can find all of the releases [here](https://github.com/FormerLurker/ArcWelderLib/releases), with the latest release on top.  Simply scroll to the bottom of the release and download the proper archive for your OS.
 
@@ -13,7 +39,7 @@ The archive will contain two folders:
 * **bin** - Here you will find the two console applications:  ArcWelder and ArcStraightener.  Just copy these to your local machine and you can run them from the command line, from a script, or directly within most slicers.  See the sections below for instructions on how to use these applications.
 * **lib** - This folder contains pre-compiled ArcWelder libraries that can be integrated into applications.  The GcodeProcessorLib library has functions for parsing gcode, tracking the printer's state and position, as well as several other goodies.  The ArcWelder library (requires GcodeProcessorLib) contains the core welding algorithm.
 
-# Building from source
+## Building from source
 
 From the repository root, create a build directory, generate makefile, and build:
 
@@ -26,11 +52,11 @@ make
 
 The resulting console application is located in `build/ArcWelderConsole/`. You might want to create the build directory out of the repository, or make `git` ignore it, to avoid a dirty tree.
 
-# Arc Welder Console Application
+## Arc Welder Console Application
 
 This is a multiplatform console application that can be used to run the Arc Welder algorithm from a command prompt.  Binaries are available for Windows, Linux, Raspbian, and MacOs.  See the [installation][#installation] section for information on how to download the console application.
 
-## Running Arc Welder Console
+### Running Arc Welder Console
 
 Once ArcWelder (or ArcWelder.exe for Windows) is downloaded and copied to your machine, you can execute it in the following form:
 
@@ -73,7 +99,7 @@ ArcWelder c:\my_gcode\thing.gcode c:\my_gcode\arc_welded_files\thing.aw.gcode
 
 Note:  You may need to enclose the paths in quotes, for example, if there are any spaces.
 
-## ArcWelder Console Help
+### ArcWelder Console Help
 
 The console program will output all of the options with the following command for Windows:
 
@@ -81,20 +107,20 @@ The console program will output all of the options with the following command fo
 ArcWelder --help
 ```
 
-## Arcwelder Version Information
+### Arcwelder Version Information
 Run the following command to view the current version, which is very useful for debugging purposes, or if you submit a github issue:
 
 ```
 ArcWelder --version
 ```
 
-## Arcwelder Console Arguments
+### Arcwelder Console Arguments
 
 ArcWelder has good defaults for most applications, but occationally you may want more control.  Many options are available that might be helpful depending on your situation.
 
 ArcWelder uses the [TCLAP Templatized C++ Command Line Parser](https://github.com/mirror/tclap) for implementing the arguments, and I've been most impressed with it.
 
-### G90 Influences Extruder
+#### G90 Influences Extruder
 For some printers, sending a G90 or G91 command also changes the E axis mode.  This is required for any printer running Marlin 2+ or a fork of Marlin 2, for Smoothieware, and for Prusa Buddy Firmware (Prusa Mini).  Do NOT add this flag if you are running any other firmware.  If your firmware is not on this list but requires this parameter, please create an issue, and I will update the documentation.
 
 * Type: Flag
@@ -103,7 +129,7 @@ For some printers, sending a G90 or G91 command also changes the E axis mode.  T
 * Long Parameter: --g90-influences-extruder
 * Example: ```ArcWelder "C:\thing.gcode" -g```
 
-### Resolution (Maximum Path Deviation)
+#### Resolution (Maximum Path Deviation)
 ArcWelder is able to compress line segments into gcode by taking advantage of the fact that a bunch of tiny line segments can, when viewed from a distance, approximate a curve.  However, a true curved path will never match up exactly with a bunch of straight lines, so ArcWelder needs a bit of play in order to create arc commands.  The *resolution argument* tells ArcWelder how much leeway it has with the original toolpath to make an arc.  Increasing this value will result in more compression, and reducing it will improve accuracy.  It is a trade-off, but one that most slicers implement anyway in order to prevent too many tiny movements from overwhelming your firmware.  In fact, ArcWelder can produce toolpaths that are more accurate than simply merging short segments together, making it less 'lossy' than slicer resolution settings.
 
 The default resolution is 0.05mm, which means your toolpaths can deviate by plus or minus 0.025mm.  In general, this produces excellent results and toolpaths that are indistinguishable from the originals with the naked eye.  For extremely high precision parts, you may decrease this value, but this will reduce the amount of compression that can be achieved.
@@ -117,7 +143,7 @@ Values above 0.1 are not recommended, as you may encounter overlapping toolpaths
 * Long Parameter: --resolution-mm=<decimal_value>
 * Example: ```ArcWelder "C:\thing.gcode" -r=0.1```
 
-### Path Tolerance Percent (length)
+#### Path Tolerance Percent (length)
 This parameter allows you control how much the length of the final arc can deviate from the original toolpath.  The default value of 5% is absolutely fine in most cases, even though that sounds like a lot.  The key thing to remember here is that your firmware will break the G2/G3 commands into many small segments, essentially reversing the process, so the path length in your firmware will match the original path much more closely.
 
 Originally, this setting was added as a safety feature to prevent prevent bad arcs from being generated in some edge cases.  However, since then a new error detection algorithm was added that makes this unnecessary.  In some cases, especially if your resolution parameter is large (above 0.1), this setting can be used to fine tune the generated arcs, so I left this setting in as is.  99+% of the time, no adjustments will be necessary here.
@@ -129,7 +155,7 @@ Originally, this setting was added as a safety feature to prevent prevent bad ar
 * Long Parameter: --path-tolerance-percent=<decimal_value>
 * Example: ```ArcWelder "C:\thing.gcode" --path-tolerance-percent=0.10```
 
-### Maximum Arc Radius
+#### Maximum Arc Radius
 Allows you to control the maximum radius arc that will be generated with ArcWelder.  This was added as a safety feature to prevent giant arcs from being generated for essentially straight lines.  ArcWelder does have built-in detection to prevent colinear lines from being turned into arcs, but slight deviations due to the precision of the gcodes (usually fixed to 3 decimal places) can cause arcs to be generated where straight lines would do.  Typically no adjustments are necessary from the defaults, but you can adjust this value if you want.
 
 * Type: Value (decimal, millimeters)
@@ -139,7 +165,7 @@ Allows you to control the maximum radius arc that will be generated with ArcWeld
 * Long Parameter: --max-radius-mm=<decimal_value>
 * Example: ```ArcWelder "C:\thing.gcode" --max-radius-mm=1000.0```
 
-### Allow 3D Arcs
+#### Allow 3D Arcs
 This option allows G2/G3 commands to be generated when using vase mode.  This is an experimental option, and it's possible that there are some unknown firmware issues when adding Z coordinates to arc commands.  That being said, I've gotten pretty good results from this option.  At some point, this will be enabled by default.
 
 * Type: Flag
@@ -148,7 +174,7 @@ This option allows G2/G3 commands to be generated when using vase mode.  This is
 * Long Parameter: --allow-3d-arcs
 * Example: ```ArcWelder "C:\thing.gcode" --allow-3d-arcs```
 
-### Allow Travel Arcs
+#### Allow Travel Arcs
 This option allows G2/G3 commands to be generated when for travel moves (moves without any extrusion).  In general, most travel moves will not be converted for the average 3D print.  However, for plotters or CNC, or certain slicers that perform wipe actions while retracting, this feature can be useful.  This is an experimental option.
 
 Note:  When using the allow-travel-arcs option, you will see separate statistics for the travel move conversion, or a message indicating that no travel moves were converted.
@@ -159,7 +185,7 @@ Note:  When using the allow-travel-arcs option, you will see separate statistics
 * Long Parameter: --allow-travel-arcs
 * Example: ```ArcWelder "C:\thing.gcode" --allow-travel-arcs```
 
-### Allow Dynamic Precision
+#### Allow Dynamic Precision
 Not all gcode has the same precision for X, Y, and Z parameters.  Enabling this option will cause the precision to grow as ArcWelder encounters gcodes with higher precision.  This may increase gcode size somewhat, depending on the precision of the gcode commands in your file.
 
 **Important Note**: This option used to be the default, but in some cases I've seen files with unusually high precision.  If it gets too high, the resulting gcode may overrun the gcode buffer size, causing prints to fail.  For that reason, this option has been disabled by default.  I've only seen a few cases where this happens, and it's always been due to custom start/end gcode with extremely high precision.  See the Maximum Gcode Length section for more details.
@@ -170,7 +196,7 @@ Not all gcode has the same precision for X, Y, and Z parameters.  Enabling this
 * Long Parameter: --allow-dynamic-precision
 * Example: ```ArcWelder "C:\thing.gcode" --allow-dynamic-precision```
 
-### Default XYZ Precision
+#### Default XYZ Precision
 ArcWelder outputs fixed precision for X, Y, Z, I, and J parameters.  99% of the time the default of 3 decimal places is just fine.  If you need (want) more or less precision, you can alter this value.
 
 Note: that when combined with the --allow-dynamic-precision argument, this represents the minimum precision.  It will grow if Arc Welder encounters gcode commands with a higher precision.
@@ -184,7 +210,7 @@ Note: that when combined with the --allow-dynamic-precision argument, this repre
 * Long Parameter: --default-xyz-precision=<integer_value>
 * Example: ```ArcWelder "C:\thing.gcode" --default-xyz-precision=5```
 
-### Default E Precision
+#### Default E Precision
 Arc Welder outputs fixed precision for the E parameter (extruder travel).  99% of the time the default of 5 decimal places is what you want.  If you need (want) more or less precision, you can alter this value.  In general, I do not recommend a value below 3 or above 5.
 
 Note, that when combined with the --allow-dynamic-precision argument, this represents the minimum precision.  It will grow if Arc Welder encounters gcode commands with a higher precision.
@@ -198,7 +224,7 @@ Note, that when combined with the --allow-dynamic-precision argument, this repre
 * Long Parameter: --default-e-precision=<integer_value>
 * Example: ```ArcWelder "C:\thing.gcode" --default-e-precision=3```
 
-### Firmware Compensation
+#### Firmware Compensation
 **Important**: Do **NOT** enable firmware compensation unless you are sure you need it!  Print quality and compression will suffer if it is enabled needlessly.
 
 Some firmware does not handle arcs with a small radius (under approximately 5mm depending on your settings), which will appear flat instead of curved.  If larger arcs appear flat, it's likely that G2/G3 is disabled.  See [this closed issue for more details](https://github.com/FormerLurker/ArcWelderLib/issues/18), including some illustrations showing what firmware compensation does to your gcode.
@@ -209,7 +235,7 @@ This feature is just a workaround, and the best solution will always be to eithe
 
 There are two arguments that need to be added to enable firmware compensation:
 
-#### Millimeters Per Arc Segment
+##### Millimeters Per Arc Segment
 This is the default length of a segment in your firmware.  This setting MUST match your firmware setting exactly.  99% of the time this setting should be 1.0 for firmware compensation to work.
 
 * Type: Value (millimeters)
@@ -219,7 +245,7 @@ This is the default length of a segment in your firmware.  This setting MUST mat
 * Long Parameter: --mm-per-arc-segment=<decimal_value>
 * Example: ```ArcWelder "C:\thing.gcode" --mm-per-arc-segment=1.0 --min-arc-segments=14```
 
-#### Minimum Arc Segments
+##### Minimum Arc Segments
 This specifies the minimum number of segments that a circle of the same radius must have and is the parameter that determines how much compensation will be applied.  This setting was inspired by the Marlin 2.0 arc interpolation algorithm and attempts to follow it as closely as possible.  The higher the value, the more compensation will be applied, and the less compression you will get.  A minimum of 14 is recommended.  Values above 24 are NOT recommended.  In general, this should be set as low as possible.
 
 If ArcWelder detects that a generated arc would have fewer segments than specified, it will reject the arc and output regular G0/G1 codes instead.  It's possible that a single arc will be broken into several G2/G3 commands as well, depending on the exact situation.  Note that ArcWelder will never increase the number of GCodes used, so it is limited by the resolution of the source gcode file.
@@ -231,7 +257,7 @@ If ArcWelder detects that a generated arc would have fewer segments than specifi
 * Long Parameter: --min-arc-segments=<integer_value>
 * Example: ```ArcWelder "C:\thing.gcode" --mm-per-arc-segment=1.0 --min-arc-segments=14```
 
-#### Firmware Compensation Example
+##### Firmware Compensation Example
 If you need to enable firmware compensation because you notice that small arcs appear flat, I recommend you start with the following settings:
 ```
 ArcWelder --mm-per-arc-segment=1.0 --min-arc-segments=14
@@ -239,7 +265,7 @@ ArcWelder --mm-per-arc-segment=1.0 --min-arc-segments=14
 
 This should produce much more rounded small arcs.  However, in some cases you will want more detail (again, at the cost of compression, which reduces the effectiveness of ArcWelder), increase --min-arc-segments up to around 24.  I don't recommend going higher than this since you will start to get lots of uncompressed gcode in areas that need it.
 
-### Extrusion Rate Variance
+#### Extrusion Rate Variance
 This feature allows ArcWelder to abort an arc if the extrusion rate changes by more than the value set here.  Note that a setting of 0.050 = 5.0%.  This option especially useful for prints using Cura's Arachne engine, but is also useful for regular prints.  Set this value to 0 to disable this feature.
 
 * Type: Value
@@ -249,7 +275,7 @@ This feature allows ArcWelder to abort an arc if the extrusion rate changes by m
 * Long Parameter: --extrusion-rate-variance-percent=<decimal_value>
 * Example: ```ArcWelder "C:\thing.gcode" --extrusion-rate-variance-percent=0.025```
 
-### Maximum Gcode Length
+#### Maximum Gcode Length
 Some firmware has a problem with long gcode commands, and G2/G3 commands are some of the longest.  You can specify a maximum gcode length to prevent long commands from being generated, which will reduce compression by a tiny amount.
 
 Non-zero values less than 31 are not allowed.  
@@ -261,7 +287,7 @@ Non-zero values less than 31 are not allowed.
 * Long Parameter: --max-gcode-length=<integer_value>
 * Example: ```ArcWelder "C:\thing.gcode" --max-gcode-length=50```
 
-### Progress Type
+#### Progress Type
 This setting allows you to control the type of progress messages the ArcWelder console application will display.  There are three options:
 
 **SIMPLE** - This is the default setting.  Here is a sample simple progress message:  
@@ -280,7 +306,7 @@ This setting allows you to control the type of progress messages the ArcWelder c
 * Long Parameter: --progress-type=<SIMPLE|FULL|NONE>
 * Example: ```ArcWelder "C:\thing.gcode" --progress-type=FULL```
 
-### Log Level
+#### Log Level
 When set, ArcWelder will log to the console.  This can be used to track down issues, or to figure out exactly what ArcWelder is doing.
 
 **Important Note:** Setting the log level could cause a huge amount of data to be outputted to the console, and will cause ArcWelder to be slow.  I recommend you redirect the console output to speed things up if you use the DEBUG, VERBOSE or NOSET log levels.
@@ -292,11 +318,11 @@ When set, ArcWelder will log to the console.  This can be used to track down iss
 * Example: ```ArcWelder "C:\thing.gcode" --log-level=DEBUG```
 
 
-## Slicer Integrations
+### Slicer Integrations
 
 It's easy to integrate ArcWelder with most slicers.
 
-### Running ArcWelder From Cura
+#### Running ArcWelder From Cura
 
 There is no way to plug the ArcWelder console application into Cura.  Fortunately there is a [plugin](https://github.com/fieldOfView/Cura-ArcWelderPlugin) in the [marketplace](https://marketplace.ultimaker.com/app/cura/plugins/fieldofview/ArcWelderPlugin) that integrates ArcWelder into Cura, developed by [FieldOfView](https://github.com/fieldOfView), so no worries there!
 
@@ -304,7 +330,7 @@ Note that if you are running Marlin 2, a fork of Marlin 2, Prusa Buddy (Prusa Mi
 
 If you are running Marlin 1 or any fork of Marlin 1 (Prusa Firmware for Mk2/Mk3, for example) or Klipper, you might consider enabling Firmware Compensation.  This is dependent on your firmware settings, but in general you will want to set *MM Per Arc Segment* to 1.0 and *Min Arc Segments* to 14 to enable firmware compensation.  Setting either to 0 will disable this.  See the [firmware compensation](#firmware-compensation) section for more info.
 
-### Running ArcWelder from Slic3r, Slic3rPE, PrusaSlicer, and SuperSlicer
+#### Running ArcWelder from Slic3r, Slic3rPE, PrusaSlicer, and SuperSlicer
 
 There are slight differences between these different slicers, but fortunately the method for integrating ArcWelder is the same.
 
@@ -340,7 +366,7 @@ If you are running Marlin 2.0, a fork of Marlin 2.0, Smoothieware, or Prusa Budd
 
 See the [G90 Influences Extruder](#g90-influences-extruder) section for more info.
 
-### Running ArcWelder from Simplify3D
+#### Running ArcWelder from Simplify3D
 
 1. Edit your current process settings.
 2. Click on the *Scripts* tab.
@@ -373,12 +399,12 @@ c:\ArcWelder.exe --g90-influences-extruder "[output_filepath]"
 
 See the [G90 Influences Extruder](#g90-influences-extruder) section for more info.
 
-# ArcStraightener
+## ArcStraightener
 This is the opposite of ArcWelder.  It will find any G2/G3 commands and replace them with G1 commands.  This is useful for testing firmware settings and generally seeing what the firmware is doing with your arc commands.
 
 The latest version includes several implementations of the arc interpolation algorithms from several different firmware types and versions.  This tool can be extremely useful for tracking down firmware issues when running G2/G3 commands.
 
-## ArcStraightener Console Arguments
+### ArcStraightener Console Arguments
 
 ArcStraightener has settings that represent the arc interpolation settings for the firmwares that are implemented.  The parameters accepted vary by firmware type and version.  ArcStraightener will not accept any parameters that will not work with the selected firmware and version.  It can also provide a list of available settings and the defaults by firmware type and version.
 
@@ -392,11 +418,11 @@ ArcStraightener --help
 
 This will also show you what firmware types and versions are available.
 
-### Non-Firmware Specific Settings
+#### Non-Firmware Specific Settings
 
 The following arguments apply regardless of the firmware type and version selected.
 
-#### Firmware Type
+##### Firmware Type
 Currently there are 5 different firmware types available:  MARLIN_1, MARLIN_2, REPETIER, PRUSA, SMOOTHIEWARE
 
 * Type: Value
@@ -405,7 +431,7 @@ Currently there are 5 different firmware types available:  MARLIN_1, MARLIN_2, R
 * Long Parameter: --firmware-type=<string>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --firmware-type==MARLIN_1```
 
-#### Firmware Version
+##### Firmware Version
 Use this argument to specify the firmware version.  Not all versions are supported.  To see a list of available versions for each firmware type, use the --help argument.  Note that the LATEST_RELEASE parameter does not always point to the most recent version, but rather the most recent stable release.  Also, the PRUSA firmware version V3_11_0 is not yet released, but was added assuming new arc interpolation parameters from the roadmap will be included.
 
 Note:  You may need to specify the firmware-type argument to choose the appropriate firmware version.
@@ -416,7 +442,7 @@ Note:  You may need to specify the firmware-type argument to choose the appropri
 * Long Parameter: --firmware_version=<string>
 * Example: ```ArcStraightener "C:\thing.aw.gcode"  --firmware-type==MARLIN_1 --firmware_version==1.1.9.1```
 
-#### Print Firmware Defaults and Supported Settings
+##### Print Firmware Defaults and Supported Settings
 Prints all avaliable settings and defaults for the provided firmware type and version.  When using this parameter, all other valid parameters will be ignored.
 
 Note:  Supply the --firmware_type and --firmware_version to see the defaults and supported settings.  When printing firmware defaults, you don't need to supply a source file location.
@@ -426,10 +452,10 @@ Note:  Supply the --firmware_type and --firmware_version to see the defaults and
 * Long Parameter: --print-firmware-defaults
 * Example: ```ArcStraightener --print-firmware-defaults --firmware_type=MARLIN_1 --firmware_version==1.1.9.1```
 
-### Firmware Specific Settings
+#### Firmware Specific Settings
 The different firmware types and versions all support different arc interpolation settings.  See the Print Firmware Defaults section for info on how to discover what paramaters a specific firmware version supports, as well as the defaults.
 
-#### G90/G91 Influences Extruder
+##### G90/G91 Influences Extruder
 Sets the firmware's G90/G91 influences extruder axis behavior.  By default this is determined by the firmware's behavior.
 
 * Type: Value
@@ -440,7 +466,7 @@ Sets the firmware's G90/G91 influences extruder axis behavior.  By default this
 
 Note, in the example above, the default behavior of the prusa firmware is overridden by the argument.
 
-#### MM Per Arc Segment
+##### MM Per Arc Segment
 This is the default segment length for arc interpolation.  Depending on the implementation, arcs could be longer or shorter than this value.
 
 * Type: Value (millimeters)
@@ -449,7 +475,7 @@ This is the default segment length for arc interpolation.  Depending on the impl
 * Long Parameter: --mm-per-arc-segment=<decimal_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --mm-per-arc-segment=0.5```
 
-#### Max Arc Segment MM
+##### Max Arc Segment MM
 This is the maximum length an arc segment can be. Similar to --arc-segments-per-r, but is used in different firmware.  This has replaced and has a slightly different meaning than --mm-per-arc-segment in newer versions of Marlin 2.0.
 
 * Type: Value (millimeters)
@@ -458,7 +484,7 @@ This is the maximum length an arc segment can be. Similar to --arc-segments-per-
 * Long Parameter: --max-arc-segment-mm=<decimal_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --max-arc-segment-mm=0.5```
 
-#### Arc Segments Per R
+##### Arc Segments Per R
 This is the maximum length an arc segment can be. Similar to --max-arc-segment-mm, but is used in different firmware.
 
 * Type: Value (millimeters)
@@ -467,7 +493,7 @@ This is the maximum length an arc segment can be. Similar to --max-arc-segment-m
 * Long Parameter: --arc-segments-per-r=<decimal_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --arc-segments-per-r=0.5```
 
-#### Min MM Per Arc Segment
+##### Min MM Per Arc Segment
 
 This is the Minimum length an arc segment can be.  Similar to -min_arc_segment_mm, but used for different firmware.
 
@@ -477,7 +503,7 @@ This is the Minimum length an arc segment can be.  Similar to -min_arc_segment_m
 * Long Parameter: --min-mm-per-arc-segment=<decimal_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --min-mm-per-arc-segment=0.5```
 
-#### Min Arc Segment MM
+##### Min Arc Segment MM
 This is the Minimum length an arc segment can be.  Similar to --min=mm-per-arc-segment, but used for different firmware.
 
 * Type: Value (millimeters)
@@ -486,7 +512,7 @@ This is the Minimum length an arc segment can be.  Similar to --min=mm-per-arc-s
 * Long Parameter: --min_arc_segment_mm=<decimal_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --min_arc_segment_mm=0.5```
 
-#### Min Arc Segments
+##### Min Arc Segments
 The minimum number of segments within a circle of the same radius as the arc.  Can be used to increase detail on small arcs.  This is a the same as --min-circle-segments setting used in some firmware versions.
 
 * Type: Integer Value
@@ -495,7 +521,7 @@ The minimum number of segments within a circle of the same radius as the arc.  C
 * Long Parameter: --min-arc-segments=<integer_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --min-arc-segments=24```
 
-#### Min Circle Segments
+##### Min Circle Segments
 The minimum number of segments within a circle of the same radius as the arc.  Can be used to increase detail on small arcs.  This is a the same as --min-arc-segments setting used in some firmware versions.
 
 * Type: Integer Value
@@ -504,7 +530,7 @@ The minimum number of segments within a circle of the same radius as the arc.  C
 * Long Parameter: --min-circle-segments=<integer_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --min-circle-segments=24```
 
-#### N Arc Correction
+##### N Arc Correction
 The number of segments that will be interpolated using a small angle approximation before true sin/cos corrections are applied.  A value less than or equal to 1 will disable this feature.  Note that enabling this can cause visible interpolation errors, especially on arcs with a very large radius.  Disabling this setting could cause performance issues on slower hardware.
 
 * Type: Integer Value
@@ -513,7 +539,7 @@ The number of segments that will be interpolated using a small angle approximati
 * Long Parameter: --n-arc-correction=<integer_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --n-arc-correction=8```
 
-#### Arc Segments Per Second
+##### Arc Segments Per Second
 The number of segments per second.  This will produce a constant number of arcs, clamped between mm-per-arc-segment and min-mm-per-arc-segment.  Can be used to prevent stuttering when printing very quickly.  A value less than or equal to 0 will disable this feature.
 
 * Type: Integer Value
@@ -522,7 +548,7 @@ The number of segments per second.  This will produce a constant number of arcs,
 * Long Parameter: --arc-segments-per-second=<integer_value>
 * Example: ```ArcStraightener "C:\thing.aw.gcode" --arc-segments-per-second=24```
 
-#### MM Max Arc Error
+##### MM Max Arc Error
 I'm not 100% sure exactly what this does, but I believe it attempts to limit the drift in the arc path to this value in MM.  When I know more I will update this description.  This currently is only used in Smoothieware.  Set to 0 to disable.
 
 * Type: Value (millimeters)