Add project files.

6 files changed, 821 insertions, 0 deletions

diff --git a/ArcWelderInverseProcessor/ArcWelderInverseProcessor.cpp b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.cpp
new file mode 100644
index 0000000..4d1e2fa
--- /dev/null
+++ b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.cpp
@@ -0,0 +1,42 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Arc Welder: Inverse Processor Console Application
+//
+// Converts G2/G3(arc) commands back to G0/G1 commands.  Intended to test firmware changes to improve arc support.
+// This reduces file size and the number of gcodes per second.
+//
+// Built using the 'Arc Welder: Anti Stutter' library
+//
+// Copyright(C) 2020 - Brad Hochgesang
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// This program is free software : you can redistribute it and/or modify
+// it under the terms of the GNU Affero General Public License as published
+// by the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
+// GNU Affero General Public License for more details.
+//
+//
+// You can contact the author at the following email address: 
+// FormerLurker@pm.me
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <iostream>
+#include <sstream>
+#include "inverse_processor.h"
+#include "ArcWelderInverseProcessor.h"
+
+int main(int argc, char* argv[])
+{
+	std::string info = "Arc Welder: Inverse Processor v0.1.rc1.dev0\nConverts G2/G3 commands to G1/G2 commands.\nCopyright(C) 2020 - Brad Hochgesang\n";
+	std::cout << info;
+	TestInverseProcessor(ARC_GYROID_BENCHY_DIFFICULT, "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\test_output.gcode");
+}
+
+static void TestInverseProcessor(std::string source_path, std::string target_path)
+{
+	inverse_processor processor(source_path, target_path, false, 50);
+	processor.process();
+}
\ No newline at end of file
diff --git a/ArcWelderInverseProcessor/ArcWelderInverseProcessor.h b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.h
new file mode 100644
index 0000000..d17f2dd
--- /dev/null
+++ b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.h
@@ -0,0 +1,52 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Arc Welder: Inverse Processor Console Application
+//
+// Converts G2/G3(arc) commands back to G0/G1 commands.  Intended to test firmware changes to improve arc support.
+// This reduces file size and the number of gcodes per second.
+//
+// Built using the 'Arc Welder: Anti Stutter' library
+//
+// Copyright(C) 2020 - Brad Hochgesang
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// This program is free software : you can redistribute it and/or modify
+// it under the terms of the GNU Affero General Public License as published
+// by the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
+// GNU Affero General Public License for more details.
+//
+//
+// You can contact the author at the following email address: 
+// FormerLurker@pm.me
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+#pragma once
+#include <string>
+static void TestInverseProcessor(std::string source_path, std::string target_path);
+
+
+static std::string ANTI_STUTTER_TEST = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\5x5_cylinder_2000Fn_0.2mm_PLA_MK2.5MMU2_4m.gcode";
+static std::string BENCHY_GCODE = "C:\\Users\\Brad\\Documents\\3DPrinter\\Calibration\\Benchy\\3DBenchy_0.2mm_PLA_MK2.5MMU2.gcode";
+static std::string BENCHY_CURA_RELATIVE_E_NOWIPE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\3DBenchy_CuraRelative_Gyroid_0.2mm.gcode";
+static std::string BENCHY_GYROID_RELATIVE_E_NOWIPE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\3DBenchy_0.2mm_gyroid_relative_e_NoWipe.gcode";
+static std::string BENCHY_GYROID_ABSOLUTE_E_NOWIPE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\3DBenchy_Absolute_Gyroid_0.2mm.gcode";
+static std::string BENCHY_0_5_MM_NO_WIPE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\Benchy_0.5mm_NoWipe.gcode";
+static std::string BENCHY_LAYER_1GCODE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\benchy_l1.gcode";
+static std::string BENCHY_LAYER_1_NO_WIPE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\benchy_L1_NoWipe.gcode";
+static std::string BENCHY_STACK_RELATIVE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\BenchyStack_Relative.gcode";
+static std::string BENCHY_STACK_ABSOLUTE = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\BenchyStack_Absolute.gcode";
+static std::string CAM_RING_TEST = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\5milCamRing_0.2mm_PLA_MK2.5MMU2_16m.gcode";
+static std::string FRACTAL = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\Mandelbrot.gcode";
+static std::string DIFFICULT_CURVES = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\DifficultCurves.gcode";
+static std::string FACE_SHIELD = "C:\\Users\\Brad\\Documents\\3DPrinter\\corona_virus\\2X_Visor_Frame_0.35mm_PLA_1h25m.gcode";
+static std::string SMALL_TEST = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\small_test.gcode";
+static std::string SUPER_HUGE_TEST = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\super_huge_file.gcode";
+static std::string TORTURE_TEST = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\stereographic_projection_0.2mm_PLA_MK2.5MMU2_2h49m.gcode";
+static std::string ORCHID_POD = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\Pla_OrchidPot.gcode";
+static std::string ARC_GYROID_BENCHY_DIFFICULT = "C:\\Users\\Brad\\Documents\\3DPrinter\\AntiStutter\\AS_BenchyArc_Difficult.gcode";
+// Issues
+static std::string ISSUE_MIMUPREFERIDA = "C:\\Users\\Brad\\Documents\\AntiStutter\\Issues\\MIMUPREFERIDA\\TESTSTUTTER.gcode";
+static std::string ISSUE_PRICKLYPEAR = "C:\\Users\\Brad\\Documents\\AntiStutter\\Issues\\PricklyPear\\Barbarian.gcode";
+static std::string ISSUE_PRICKLYPEAR_LAYER_0_114 = "C:\\Users\\Brad\\Documents\\AntiStutter\\Issues\\PricklyPear\\Layers0_114.gcode";
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new file mode 100644
index 0000000..f525571
--- /dev/null
+++ b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.vcxproj
@@ -0,0 +1,163 @@
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\ No newline at end of file
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new file mode 100644
index 0000000..55a31a5
--- /dev/null
+++ b/ArcWelderInverseProcessor/ArcWelderInverseProcessor.vcxproj.filters
@@ -0,0 +1,33 @@
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diff --git a/ArcWelderInverseProcessor/inverse_processor.cpp b/ArcWelderInverseProcessor/inverse_processor.cpp
new file mode 100644
index 0000000..57144b8
--- /dev/null
+++ b/ArcWelderInverseProcessor/inverse_processor.cpp
@@ -0,0 +1,467 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Arc Welder: Inverse Processor Console Application
+//
+// Converts G2/G3(arc) commands back to G0/G1 commands.  Intended to test firmware changes to improve arc support.
+// This reduces file size and the number of gcodes per second.
+//
+// Built using the 'Arc Welder: Anti Stutter' library
+//
+// Copyright(C) 2020 - Brad Hochgesang
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// This program is free software : you can redistribute it and/or modify
+// it under the terms of the GNU Affero General Public License as published
+// by the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
+// GNU Affero General Public License for more details.
+//
+//
+// You can contact the author at the following email address: 
+// FormerLurker@pm.me
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// This file includes portions from Marlin's motion_control.c file since it is intended to test some firmware modifications.
+// This file was included in the AntiStutter project for convenience, and will not be included within the final version.
+/*
+  motion_control.c - high level interface for issuing motion commands
+  Part of Grbl
+
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+  Copyright (c) 2011 Sungeun K. Jeon
+  Copyright (c) 2020 Brad Hochgesang
+
+  Grbl is free software: you can redistribute it and/or modify
+  it under the terms of the GNU General Public License as published by
+  the Free Software Foundation, either version 3 of the License, or
+  (at your option) any later version.
+
+  Grbl is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  GNU General Public License for more details.
+
+  You should have received a copy of the GNU General Public License
+  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "inverse_processor.h"
+#include "math.h"
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include <fstream>
+
+//#include "Marlin.h"
+//#include "stepper.h"
+//#include "planner.h"
+
+inverse_processor::inverse_processor(std::string source_path, std::string target_path, bool g90_g91_influences_extruder, int buffer_size)
+{
+    source_path_ = source_path;
+    target_path_ = target_path;
+    p_source_position_ = new gcode_position(get_args_(g90_g91_influences_extruder, buffer_size));
+    // ** Gloabal Variable Definition **
+    // 20200417 - FormerLurker - Declare two globals and pre-calculate some values that will reduce the
+    // amount of trig funcitons we need to call while printing.  For the price of having two globals we
+    // save one trig calc per G2/G3 for both MIN_ARC_SEGMENTS and MIN_MM_PER_ARC_SEGMENT.  This is a good trade IMHO.
+#ifdef MIN_ARC_SEGMENTS
+// Determines the radius at which the transition from using MM_PER_ARC_SEGMENT to MIN_ARC_SEGMENTS
+    /*const float*/arc_max_radius_threshold = MM_PER_ARC_SEGMENT / (2.0F * sin(M_PI / MIN_ARC_SEGMENTS));
+#endif
+#if defined(MIN_ARC_SEGMENTS) && defined(MIN_MM_PER_ARC_SEGMENT)
+    // Determines the radius at which the transition from using MIN_ARC_SEGMENTS to MIN_MM_PER_ARC_SEGMENT.
+    /*const float*/arc_min_radius_threshold = MIN_MM_PER_ARC_SEGMENT / (2.0F * sin(M_PI / MIN_ARC_SEGMENTS));
+#endif
+
+}
+
+gcode_position_args inverse_processor::get_args_(bool g90_g91_influences_extruder, int buffer_size)
+{
+    gcode_position_args args;
+    // Configure gcode_position_args
+    args.g90_influences_extruder = g90_g91_influences_extruder;
+    args.position_buffer_size = buffer_size;
+    args.autodetect_position = true;
+    args.home_x = 0;
+    args.home_x_none = true;
+    args.home_y = 0;
+    args.home_y_none = true;
+    args.home_z = 0;
+    args.home_z_none = true;
+    args.shared_extruder = true;
+    args.zero_based_extruder = true;
+
+
+    args.default_extruder = 0;
+    args.xyz_axis_default_mode = "absolute";
+    args.e_axis_default_mode = "absolute";
+    args.units_default = "millimeters";
+    args.location_detection_commands = std::vector<std::string>();
+    args.is_bound_ = false;
+    args.is_circular_bed = false;
+    args.x_min = -9999;
+    args.x_max = 9999;
+    args.y_min = -9999;
+    args.y_max = 9999;
+    args.z_min = -9999;
+    args.z_max = 9999;
+    return args;
+}
+
+inverse_processor::~inverse_processor()
+{
+    delete p_source_position_;
+}
+
+void inverse_processor::process()
+{
+    // Create a stringstream we can use for messaging.
+    std::stringstream stream;
+
+    int read_lines_before_clock_check = 5000;
+    //std::cout << "stabilization::process_file - Processing file.\r\n";
+    stream << "Decompressing gcode file.";
+    stream << "Source File: " << source_path_ << "\n";
+    stream << "Target File: " << target_path_ << "\n";
+    std::cout << stream.str();
+    const clock_t start_clock = clock();
+
+    // Create the source file read stream and target write stream
+    std::ifstream gcode_file;
+    std::ofstream output_file;
+    gcode_file.open(source_path_.c_str());
+    output_file.open(target_path_.c_str());
+    std::string line;
+    int lines_with_no_commands = 0;
+    gcode_file.sync_with_stdio(false);
+    output_file.sync_with_stdio(false);
+    gcode_parser parser;
+    int lines_processed = 0;
+    int gcodes_processed = 0;
+    if (gcode_file.is_open())
+    {
+        if (output_file.is_open())
+        {
+            //stream.clear();
+            //stream.str("");
+            //stream << "Opened file for reading.  File Size: " << file_size_ << "\n";
+            //std::cout << stream.str();
+            parsed_command cmd;
+            // Communicate every second
+            while (std::getline(gcode_file, line))
+            {
+                lines_processed++;
+
+                cmd.clear();
+                parser.try_parse_gcode(line.c_str(), cmd);
+                bool has_gcode = false;
+                if (cmd.gcode.length() > 0)
+                {
+                    has_gcode = true;
+                    gcodes_processed++;
+                }
+                else
+                {
+                    lines_with_no_commands++;
+                }
+
+                p_source_position_->update(cmd, lines_processed, gcodes_processed, -1);
+
+                if (cmd.command == "G2" || cmd.command == "G3")
+                {
+                    position* p_cur_pos = p_source_position_->get_current_position_ptr();
+                    position* p_pre_pos = p_source_position_->get_previous_position_ptr();
+                    float position[4];
+                    position[X_AXIS] = static_cast<float>(p_pre_pos->get_gcode_x());
+                    position[Y_AXIS] = static_cast<float>(p_pre_pos->get_gcode_y());
+                    position[Z_AXIS] = static_cast<float>(p_pre_pos->get_gcode_z());
+                    position[E_AXIS] = static_cast<float>(p_pre_pos->get_current_extruder().get_offset_e());
+                    float target[4];
+                    target[X_AXIS] = static_cast<float>(p_cur_pos->get_gcode_x());
+                    target[Y_AXIS] = static_cast<float>(p_cur_pos->get_gcode_y());
+                    target[Z_AXIS] = static_cast<float>(p_cur_pos->get_gcode_z());
+                    target[E_AXIS] = static_cast<float>(p_cur_pos->get_current_extruder().get_offset_e());
+                    float offset[2];
+                    offset[0] = 0.0;
+                    offset[1] = 0.0;
+                    for (unsigned int index = 0; index < cmd.parameters.size(); index++)
+                    {
+                        parsed_command_parameter p = cmd.parameters[index];
+                        if (p.name == "I")
+                        {
+                            offset[0] = static_cast<float>(p.double_value);
+                        }
+                        else if (p.name == "J")
+                        {
+                            offset[1] = static_cast<float>(p.double_value);
+                        }
+                    }
+                    float radius = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
+                    uint8_t isclockwise = cmd.command == "G2" ? 1 : 0;
+                    output_file << mc_arc(position, target, offset, X_AXIS, Y_AXIS, Z_AXIS, static_cast<float>(p_pre_pos->f), radius, isclockwise, 0, p_cur_pos->is_extruder_relative) << "\n";
+                }
+                else
+                {
+                    output_file << line << "\n";
+                }
+
+            }
+            output_file.close();
+        }
+        else
+        {
+            std::cout << "Unable to open the output file for writing.\n";
+        }
+        std::cout << "Closing the input file.\n";
+        gcode_file.close();
+    }
+    else
+    {
+        std::cout << "Unable to open the gcode file for processing.\n";
+    }
+
+    const clock_t end_clock = clock();
+    const double total_seconds = (static_cast<double>(end_clock) - static_cast<double>(start_clock)) / CLOCKS_PER_SEC;
+    
+    stream.clear();
+    stream.str("");
+    stream << "Completed file processing\r\n";
+    stream << "\tLines Processed      : " << lines_processed << "\r\n";
+    stream << "\tTotal Seconds        : " << total_seconds << "\r\n";
+    stream << "\tExtra Trig Count     : " << trig_calc_count << "\r\n";
+    stream << "\tTotal E Adjustment   : " << total_e_adjustment << "\r\n";
+    std::cout << stream.str();
+}
+
+// The arc is approximated by generating a huge number of tiny, linear segments. The length of each 
+// segment is configured in settings.mm_per_arc_segment.  
+std::string inverse_processor::mc_arc(float* position, float* target, float* offset, uint8_t axis_0, uint8_t axis_1,
+    uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder, bool output_relative)
+{
+    std::stringstream stream;
+    stream << std::fixed;
+    std::string gcodes;
+    
+    // Start Modifications
+    float center_axis0 = position[axis_0] + offset[axis_0];
+    float center_axis1 = position[axis_1] + offset[axis_1];
+    float linear_travel = target[axis_linear] - position[axis_linear];
+    float extruder_travel_total = target[E_AXIS] - position[E_AXIS];
+    float r_axis0 = -offset[axis_0];  // Radius vector from center to current location
+    float r_axis1 = -offset[axis_1];
+    float rt_axis0 = target[axis_0] - center_axis0;
+    float rt_axis1 = target[axis_1] - center_axis1;
+    // 20200419 - Add a variable that will be used to hold the arc segment length
+    float mm_per_arc_segment;
+
+    // CCW angle between position and target from circle center. Only one atan2() trig computation required.
+    float angular_travel_total = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
+    if (angular_travel_total < 0) { angular_travel_total += 2 * M_PI; }
+
+#ifdef MIN_ARC_SEGMENTS
+    // 20200417 - FormerLurker - Implement MIN_ARC_SEGMENTS if it is defined - from Marlin 2.0 implementation
+    // Do this before converting the angular travel for clockwise rotation
+#ifdef MIN_MM_PER_ARC_SEGMENT
+// 20200417 - FormerLurker - Implement MIN_MM_PER_ARC_SEGMENT if it is defined
+// This prevents a very high number of segments from being generated for curves of a short radius
+    if (radius < arc_min_radius_threshold)  mm_per_arc_segment = MIN_MM_PER_ARC_SEGMENT;
+    else
+#endif
+        if (radius < arc_max_radius_threshold) mm_per_arc_segment = radius * ((2.0f * M_PI) / MIN_ARC_SEGMENTS);
+        else mm_per_arc_segment = MM_PER_ARC_SEGMENT;
+#else
+    // 20200418 - FormerLurker - Use the standard segment length
+    mm_per_arc_segment = MM_PER_ARC_SEGMENT;
+#endif
+    if (isclockwise) { angular_travel_total -= 2 * M_PI; }
+
+    //20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
+    //to compensate when start pos = target pos && angle is zero -> angle = 2Pi
+    if (position[axis_0] == target[axis_0] && position[axis_1] == target[axis_1] && angular_travel_total == 0)
+    {
+        angular_travel_total += 2 * M_PI;
+    }
+    //end fix G03
+
+    // 20200417 - FormerLurker - rename millimeters_of_travel to millimeters_of_travel_arc to better describe what we are
+    // calculating here
+    float millimeters_of_travel_arc = hypot(angular_travel_total * radius, fabs(linear_travel));
+    if (millimeters_of_travel_arc < 0.001) { return ""; }
+    // Calculate the total travel per segment
+    // Calculate the number of arc segments
+    uint16_t segments = static_cast<uint16_t>(floor(millimeters_of_travel_arc / mm_per_arc_segment));
+    // Ensure at least one segment
+    if (segments < 1) segments = 1;
+
+    // Calculate theta per segments and linear (z) travel per segment
+    float theta_per_segment = angular_travel_total / segments;
+    float linear_per_segment = linear_travel / (segments);
+
+#ifdef ARC_EXTRUSION_CORRECTION
+    // 20200417 - FormerLurker - The feedrate needs to be adjusted becaue the perimeter of a regular polygon is always
+    // less than that of a circumscribed circle.  However, after testing it has been determined that this
+    // value is very small and may not be worth the clock cycles unless the settings are vastlyl different than the 
+    // defaults
+
+    // Calculate the individual segment arc and chord length
+    float segment_length_arc = millimeters_of_travel_arc / segments;
+    float segment_length_chord = 2.0f * radius * sin(fabs(theta_per_segment) * 0.5f); // This is a costly calculation..
+    // Determine the correction factor
+    float extrusion_correction_factor = fabs(segment_length_chord / segment_length_arc);
+    // Calculate the corrected extrusion amount per segment
+    float segment_extruder_travel = (extruder_travel_total / segments) * extrusion_correction_factor;
+#else
+    // Calculate the extrusion amount per segment
+    float segment_extruder_travel = extruder_travel_total / (segments);
+#endif
+
+    /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
+       and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
+           r_T = [cos(phi) -sin(phi);
+                  sin(phi)  cos(phi] * r ;
+
+       For arc generation, the center of the circle is the axis of rotation and the radius vector is
+       defined from the circle center to the initial position. Each line segment is formed by successive
+       vector rotations. This requires only two cos() and sin() computations to form the rotation
+       matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
+       all double numbers are single precision on the Arduino. (True double precision will not have
+       round off issues for CNC applications.) Single precision error can accumulate to be greater than
+       tool precision in some cases. Therefore, arc path correction is implemented.
+
+       Small angle approximation may be used to reduce computation overhead further. This approximation
+       holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
+       theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
+       to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
+       numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
+       issue for CNC machines with the single precision Arduino calculations.
+
+       This approximation also allows mc_arc to immediately insert a line segment into the planner
+       without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
+       a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
+       This is important when there are successive arc motions.
+    */
+
+    // The initial approximation causes irregular movements in some cases, causing back travel to the final segment.
+    // Initialize the linear axis
+    float arc_target[4];
+    arc_target[axis_linear] = position[axis_linear];
+
+    // Initialize the extruder axis
+    arc_target[E_AXIS] = position[E_AXIS];
+
+    // Don't bother calculating cot_T or sin_T if there is only 1 segment.  This will speed up arcs that only have
+    // 1 segment.
+    if (segments > 1)
+    {
+        float cos_T;
+        float sin_T;
+        // 20200417 - FormerLurker - Using the small angle approximation causes drift if theta is large.
+        // Use true cos/sin if the angle is large (do we need a definition for this?)
+        if (theta_per_segment < (2.0f * M_PI / 16.0f) && theta_per_segment >(-2.0f * M_PI / 16.0f))
+        {
+            // Avoids cos and sin calculations.  However, in my testing this doesn't save much time
+            // since the majority of the cost is adding the segments to the planner.  If possible,
+            // I believe it's better to reduce the number of segments as much as possible, even if it
+            // means a bit more overhead in this function.  However, for small angles this works fine
+            // and is very fast.
+            cos_T = 1.0f - 0.5f * theta_per_segment * theta_per_segment; // Small angle approximation
+            sin_T = theta_per_segment;
+        }
+        else
+        {
+            // This seems to work even without N_ARC_CORRECTION enabled for all values I tested. It produces 
+            // extremely accurate segment endpoints even when an extremely high number of segments are 
+            // generated. With 3 decimals of precision on XYZ, this should work for any reasonable settings 
+            // without correction.
+            cos_T = cos(theta_per_segment);
+            sin_T = sin(theta_per_segment);
+        }
+        float sin_Ti;
+        float cos_Ti;
+        float r_axisi;
+        uint16_t i;
+        int8_t count = 0;
+
+        for (i = 1; i < segments; i++) { // Increment (segments-1)
+
+#ifdef N_ARC_CORRECTION
+// 20200417 - FormerLurker - Make N_ARC_CORRECTION optional.
+            if (count < N_ARC_CORRECTION) {
+#endif
+                // Apply vector rotation matrix 
+                float x_0 = r_axis0;
+                float y_0 = r_axis1;
+                r_axisi = r_axis0 * sin_T + r_axis1 * cos_T;
+                r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T;
+                r_axis1 = r_axisi;
+#ifdef N_ARC_CORRECTION
+                // 20200417 - FormerLurker - Make N_ARC_CORRECTION optional.
+                count++;
+            }
+            else {
+                // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+                // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+                cos_Ti = cos(i * theta_per_segment);
+                sin_Ti = sin(i * theta_per_segment);
+                r_axis0 = -offset[axis_0] * cos_Ti + offset[axis_1] * sin_Ti;
+                r_axis1 = -offset[axis_0] * sin_Ti - offset[axis_1] * cos_Ti;
+                count = 0;
+            }
+#endif
+            // Update arc_target location
+            arc_target[axis_0] = center_axis0 + r_axis0;
+            arc_target[axis_1] = center_axis1 + r_axis1;
+            arc_target[axis_linear] += linear_per_segment;
+            arc_target[E_AXIS] += segment_extruder_travel;
+
+            //********** TODO:  MOVE THIS TO ANOTHER FUNCITON AND USE THE ORIGINAL C AS MUCH AS POSSIBLE
+            if (stream.tellp() > 1U)
+                stream << "\n";
+
+            stream << "G1 X" << std::setprecision(3) << arc_target[X_AXIS] << " Y" << arc_target[Y_AXIS];
+            if (output_relative)
+            {
+                stream << std::setprecision(5) << " E" << segment_extruder_travel;
+            }
+            else
+            {
+                stream << std::setprecision(5) << " E" << arc_target[E_AXIS];
+            }
+
+            stream << std::setprecision(0) << " F" << feed_rate;
+            //********** END TODO
+        }
+    }
+
+#ifdef ARC_EXTRUSION_CORRECTION
+    // 20200417 - FormerLurker - adjust the final absolute e coordinate based on our extruder correction
+    target[E_AXIS] = arc_target[E_AXIS] + segment_extruder_travel;
+#endif
+    // Ensure last segment arrives at target location.
+    if (stream.tellp() > 1U)
+        stream << "\n";
+
+    stream << "G1 X" << std::setprecision(3) << target[X_AXIS] << " Y" << target[Y_AXIS];
+    if (output_relative)
+    {
+        stream << std::setprecision(5) << " E" << segment_extruder_travel;
+    }
+    else
+    {
+        stream << std::setprecision(5) << " E" << target[E_AXIS];
+    }
+    stream << std::setprecision(0) << " F" << feed_rate;
+#ifdef ARC_EXTRUSION_CORRECTION
+    // 20200417 - FormerLurker - Hide the e axis corrections from the planner
+    // Is this necessary, and is this the prefered way to accomplish this?
+    //plan_set_e_position(target[E_AXIS]);
+#endif
+    return stream.str();
+
+    //   plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
+}
+
diff --git a/ArcWelderInverseProcessor/inverse_processor.h b/ArcWelderInverseProcessor/inverse_processor.h
new file mode 100644
index 0000000..761e186
--- /dev/null
+++ b/ArcWelderInverseProcessor/inverse_processor.h
@@ -0,0 +1,64 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Arc Welder: Inverse Processor Console Application
+//
+// Converts G2/G3(arc) commands back to G0/G1 commands.  Intended to test firmware changes to improve arc support.
+// This reduces file size and the number of gcodes per second.
+//
+// Built using the 'Arc Welder: Anti Stutter' library
+//
+// Copyright(C) 2020 - Brad Hochgesang
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// This program is free software : you can redistribute it and/or modify
+// it under the terms of the GNU Affero General Public License as published
+// by the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
+// GNU Affero General Public License for more details.
+//
+//
+// You can contact the author at the following email address: 
+// FormerLurker@pm.me
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+#pragma once
+
+#include <string>
+#include "gcode_position.h"
+
+
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef signed char int8_t;
+#define M_PI       3.14159265358979323846f   // pi
+enum AxisEnum { X_AXIS = 0, Y_AXIS= 1, Z_AXIS = 2, E_AXIS = 3, X_HEAD = 4, Y_HEAD = 5 };
+// Arc interpretation settings:
+#define MM_PER_ARC_SEGMENT 1.0f // The maximum length of an arc segment if a full circle of the same radius has more than MIN_ARC_SEGMENTS (if defined)
+#define N_ARC_CORRECTION 25 // The number of interpolated segments that will be generated without a floating point correction
+// 20200417 - FormerLurker - Add Additional Arc Config Values
+#define MIN_ARC_SEGMENTS 32 // The minimum segments in a full circle.  If not defined, MM_PER_ARC_SEMGMENT is enforced always
+#define MIN_MM_PER_ARC_SEGMENT 0.25f // the minimum length of an interpolated segment.  Must be smaller than MM_PER_ARC_SEGMENT if defined.
+//#define ARC_EXTRUSION_CORRECTION // If defined, we should apply correction to the extrusion length based on the
+                                   // difference in true arc length.  The correctly is extremely small, and may not be worth the cpu cycles 
+
+class inverse_processor {
+public:
+	inverse_processor(std::string source_path, std::string target_path, bool g90_g91_influences_extruder, int buffer_size);
+	virtual ~inverse_processor();
+	void process();
+	std::string mc_arc(float* position, float* target, float* offset, uint8_t axis_0, uint8_t axis_1,
+		uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder, bool output_relative);
+private:
+	gcode_position_args get_args_(bool g90_g91_influences_extruder, int buffer_size);
+	std::string source_path_;
+	std::string target_path_;
+	gcode_position* p_source_position_;
+	float arc_max_radius_threshold;
+	float arc_min_radius_threshold;
+	float total_e_adjustment;
+	int trig_calc_count = 0;
+};
+
+
+