Fix Python unicode logging issues. Add sin approximation to inverse processor. Fix log levels and progress output. Add firmware compensation statistics.

2 files changed, 30 insertions, 4 deletions

diff --git a/ArcWelderInverseProcessor/inverse_processor.cpp b/ArcWelderInverseProcessor/inverse_processor.cpp
index d82568c..f40a66b 100644
--- a/ArcWelderInverseProcessor/inverse_processor.cpp
+++ b/ArcWelderInverseProcessor/inverse_processor.cpp
@@ -347,16 +347,39 @@ void inverse_processor::mc_arc(float* position, float* target, float* offset, fl
     if (segments > 1)
     {
         // Initialize the extruder axis
-
-        float cos_T = cos(theta_per_segment);
-        float sin_T = sin(theta_per_segment);
+        float cos_T, sin_T, sin_Ti, cos_Ti;
+        //float cos_T = cos(theta_per_segment);
+        //float sin_T = sin(theta_per_segment);
+        float sq_theta_per_segment = theta_per_segment * theta_per_segment;
+        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 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
+        //sin_T = theta_per_segment;
         float r_axisi;
         uint16_t i;
-
+        int8_t count = 0;
         for (i = 1; i < segments; i++) { // Increment (segments-1)
+
+          if (count < cs_.n_arc_correction) {
+            // Apply vector rotation matrix 
             r_axisi = r_axis_x * sin_T + r_axis_y * cos_T;
             r_axis_x = r_axis_x * cos_T - r_axis_y * sin_T;
             r_axis_y = r_axisi;
+            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_axis_x = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
+            r_axis_y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
+            count = 0;
+
+          }
+
+            
 
             // Update arc_target location
             p_x = center_axis_x + r_axis_x;
diff --git a/ArcWelderInverseProcessor/inverse_processor.h b/ArcWelderInverseProcessor/inverse_processor.h
index a5f7184..6762953 100644
--- a/ArcWelderInverseProcessor/inverse_processor.h
+++ b/ArcWelderInverseProcessor/inverse_processor.h
@@ -45,6 +45,7 @@ enum AxisEnum { X_AXIS = 0, Y_AXIS= 1, Z_AXIS = 2, E_AXIS = 3, X_HEAD = 4, Y_HEA
 #define DEFAULT_MIN_ARC_SEGMENTS 0 // OPTIONAL - The enforced minimum segments in a full circle of the same radius.
 #define DEFAULT_ARC_SEGMENTS_PER_SEC 0 // OPTIONAL - Use feedrate to choose segment length.
 // approximation will not be used for the first segment.  Subsequent segments will be corrected following DEFAULT_N_ARC_CORRECTION.
+#define DEFAULT_N_ARC_CORRECTIONS 24
 
 struct ConfigurationStore {
 	ConfigurationStore() {
@@ -52,11 +53,13 @@ struct ConfigurationStore {
 		min_mm_per_arc_segment = DEFAULT_MIN_MM_PER_ARC_SEGMENT;
 		min_arc_segments = DEFAULT_MIN_ARC_SEGMENTS;
 		arc_segments_per_sec = DEFAULT_ARC_SEGMENTS_PER_SEC;
+		n_arc_correction = DEFAULT_N_ARC_CORRECTIONS;
 	}
 	float mm_per_arc_segment; // This value is ALWAYS used.
 	float min_mm_per_arc_segment;  // if less than or equal to 0, this is disabled
 	int min_arc_segments; // If less than or equal to zero, this is disabled
 	double arc_segments_per_sec; // If less than or equal to zero, this is disabled
+	int n_arc_correction;
 	
 };
 class inverse_processor {