diff options
Diffstat (limited to 'ArcWelderInverseProcessor/prusa.cpp')
| -rw-r--r-- | ArcWelderInverseProcessor/prusa.cpp | 36 |
1 files changed, 15 insertions, 21 deletions
diff --git a/ArcWelderInverseProcessor/prusa.cpp b/ArcWelderInverseProcessor/prusa.cpp index b1d5ac3..085977e 100644 --- a/ArcWelderInverseProcessor/prusa.cpp +++ b/ArcWelderInverseProcessor/prusa.cpp @@ -52,20 +52,14 @@ void prusa::apply_arguments() { case prusa::prusa_firmware_versions::V3_11_0: mc_arc_ = &prusa::mc_arc_3_11_0; - used_arguments = { "mm_per_arc_segment", "min_arc_segments", "min_mm_per_arc_segment", "mm_per_arc_segment", "n_arc_correction", "g90_g91_influences_extruder" }; + used_arguments = { FIRMWARE_ARGUMENT_MM_PER_ARC_SEGMENT, FIRMWARE_ARGUMENT_MIN_ARC_SEGMENTS, FIRMWARE_ARGUMENT_MIN_MM_PER_ARC_SEGMENT, FIRMWARE_ARGUMENT_N_ARC_CORRECTION, FIRMWARE_ARGUMENT_G90_G91_INFLUENCES_EXTRUDER }; break; default: mc_arc_ = &prusa::mc_arc_3_10_0; - used_arguments = { "mm_per_arc_segment", "n_arc_correction", "g90_g91_influences_extruder" }; + used_arguments = { FIRMWARE_ARGUMENT_MM_PER_ARC_SEGMENT, FIRMWARE_ARGUMENT_N_ARC_CORRECTION, FIRMWARE_ARGUMENT_G90_G91_INFLUENCES_EXTRUDER }; break; } args_.set_used_arguments(used_arguments); - cs.arc_segments_per_sec = args_.arc_segments_per_sec; - cs.min_arc_segments = args_.min_arc_segments; - cs.min_mm_per_arc_segment = (float)args_.min_mm_per_arc_segment; - cs.mm_per_arc_segment = (float)args_.mm_per_arc_segment; - cs.n_arc_correction = args_.n_arc_correction; - } @@ -196,7 +190,7 @@ void prusa::mc_arc_3_10_0(float* position, float* target, float* offset, float f float millimeters_of_travel = (float)utilities::hypot((double)angular_travel * radius, utilities::absf(linear_travel)); if (millimeters_of_travel < 0.001) { return; } - uint16_t segments = (uint16_t)utilities::floorf(millimeters_of_travel / cs.mm_per_arc_segment); + uint16_t segments = (uint16_t)utilities::floorf(millimeters_of_travel / static_cast<float>(args_.mm_per_arc_segment)); if (segments == 0) segments = 1; /* @@ -252,7 +246,7 @@ void prusa::mc_arc_3_10_0(float* position, float* target, float* offset, float f for (i = 1; i < segments; i++) { // Increment (segments-1) - if (count < cs.n_arc_correction) { + if (count < args_.n_arc_correction) { // Apply vector rotation matrix r_axisi = r_axis0 * sin_T + r_axis1 * cos_T; r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T; @@ -327,39 +321,39 @@ void prusa::mc_arc_3_11_0(float* position, float* target, float* offset, float f float rt_x = target[X_AXIS] - center_axis_x; float rt_y = target[Y_AXIS] - center_axis_y; // 20200419 - Add a variable that will be used to hold the arc segment length - float mm_per_arc_segment = cs.mm_per_arc_segment; + float mm_per_arc_segment = static_cast<float>(args_.mm_per_arc_segment); // 20210109 - Add a variable to hold the n_arc_correction value - uint8_t n_arc_correction = cs.n_arc_correction; + uint8_t n_arc_correction = args_.n_arc_correction; // CCW angle between position and target from circle center. Only one atan2() trig computation required. float angular_travel_total = (float)utilities::atan2((double)r_axis_x * rt_y - (double)r_axis_y * rt_x, (double)r_axis_x * rt_x + (double)r_axis_y * rt_y); if (angular_travel_total < 0) { angular_travel_total += 2.0f * PI_FLOAT; } - if (cs.min_arc_segments > 0) + if (args_.min_arc_segments > 0) { // 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 - mm_per_arc_segment = radius * ((2.0f * PI_FLOAT) / cs.min_arc_segments); + mm_per_arc_segment = radius * ((2.0f * PI_FLOAT) / args_.min_arc_segments); } - if (cs.arc_segments_per_sec > 0) + if (args_.arc_segments_per_sec > 0) { // 20200417 - FormerLurker - Implement MIN_ARC_SEGMENTS if it is defined - from Marlin 2.0 implementation - float mm_per_arc_segment_sec = (feed_rate / 60.0f) * (1.0f / (float)cs.arc_segments_per_sec); + float mm_per_arc_segment_sec = (feed_rate / 60.0f) * (1.0f / (float)args_.arc_segments_per_sec); if (mm_per_arc_segment_sec < mm_per_arc_segment) mm_per_arc_segment = mm_per_arc_segment_sec; } // Note: no need to check to see if min_mm_per_arc_segment is enabled or not (i.e. = 0), since mm_per_arc_segment can never be below 0. - if (mm_per_arc_segment < cs.min_mm_per_arc_segment) + if (mm_per_arc_segment < args_.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 - mm_per_arc_segment = cs.min_mm_per_arc_segment; + mm_per_arc_segment = static_cast<float>(args_.min_mm_per_arc_segment); } - else if (mm_per_arc_segment > cs.mm_per_arc_segment) { + else if (mm_per_arc_segment > args_.mm_per_arc_segment) { // 20210113 - This can be implemented in an else if since we can't be below the min AND above the max at the same time. // 20200417 - FormerLurker - Implement MIN_MM_PER_ARC_SEGMENT if it is defined - mm_per_arc_segment = cs.mm_per_arc_segment; + mm_per_arc_segment = static_cast<float>(args_.mm_per_arc_segment); } // Adjust the angular travel if the direction is clockwise @@ -420,7 +414,7 @@ void prusa::mc_arc_3_11_0(float* position, float* target, float* offset, float f 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; // reset n_arc_correction - n_arc_correction = cs.n_arc_correction; + n_arc_correction = args_.n_arc_correction; } else { // Calculate X and Y using the small angle approximation |