diff options
Diffstat (limited to 'ArcWelderInverseProcessor/repetier.cpp')
| -rw-r--r-- | ArcWelderInverseProcessor/repetier.cpp | 38 |
1 files changed, 15 insertions, 23 deletions
diff --git a/ArcWelderInverseProcessor/repetier.cpp b/ArcWelderInverseProcessor/repetier.cpp index 7d5798c..e5c34ec 100644 --- a/ArcWelderInverseProcessor/repetier.cpp +++ b/ArcWelderInverseProcessor/repetier.cpp @@ -119,7 +119,7 @@ std::string repetier::interpolate_arc(firmware_position& target, double i, doubl float repetier_radius = static_cast<float>(r); if (repetier_radius != 0) { - repetier_radius = (float)utilities::hypot(repetier_offset[X_AXIS], repetier_offset[Y_AXIS]); // Compute arc radius for mc_arc + repetier_radius = utilities::hypotf(repetier_offset[X_AXIS], repetier_offset[Y_AXIS]); // Compute arc radius for mc_arc } float repetier_f = static_cast<float>(target.f); @@ -175,12 +175,12 @@ void repetier::arc_1_0_5(float* position, float* target, float* offset, float ra if (repetier_is_close(position[X_AXIS], target[X_AXIS]) && repetier_is_close(position[Y_AXIS], target[Y_AXIS])) { // Preserve direction for circles - angular_travel = isclockwise ? -2.0f * (float)M_PI : 2.0f * (float)M_PI; + angular_travel = isclockwise ? -2.0f * PI_FLOAT : 2.0f * PI_FLOAT; } else { // CCW angle between position and target from circle center. Only one atan2() trig computation required. - angular_travel = (float)utilities::atan2((double)(r_axis0 * rt_axis1) - (double)(r_axis1 * rt_axis0), (double)(r_axis0 * rt_axis0) + (double)(r_axis1 * rt_axis1)); + angular_travel = (float)utilities::atan2((double)r_axis0 * rt_axis1 - (double)r_axis1 * rt_axis0, (double)r_axis0 * rt_axis0 + (double)r_axis1 * rt_axis1); // No need to draw an arc if there is no angular travel if (!angular_travel) return; @@ -190,12 +190,12 @@ void repetier::arc_1_0_5(float* position, float* target, float* offset, float ra { if (isclockwise) { - angular_travel -= 2.0f * (float)M_PI; + angular_travel -= 2.0f * PI_FLOAT; } } else if (!isclockwise) { - angular_travel += 2.0f * (float)M_PI; + angular_travel += 2.0f * PI_FLOAT; } } @@ -204,7 +204,7 @@ void repetier::arc_1_0_5(float* position, float* target, float* offset, float ra if (linear_travel) { // If we have any Z motion, add this to the total mm of travel. - millimeters_of_travel = (float)utilities::hypot(millimeters_of_travel, linear_travel); + millimeters_of_travel = utilities::hypotf(millimeters_of_travel, linear_travel); } if (millimeters_of_travel < 0.001f) { @@ -287,8 +287,8 @@ void repetier::arc_1_0_5(float* position, float* target, float* offset, float ra 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 = (float)utilities::cos(i * theta_per_segment); - sin_Ti = (float)utilities::sin(i * theta_per_segment); + cos_Ti = (float)utilities::cos(i * (double)theta_per_segment); + sin_Ti = (float)utilities::sin(i * (double)theta_per_segment); r_axis0 = -offset[0] * cos_Ti + offset[1] * sin_Ti; r_axis1 = -offset[0] * sin_Ti - offset[1] * cos_Ti; count = 0; @@ -347,21 +347,21 @@ void repetier::arc_1_0_4(float* position, float* target, float* offset, float ra long etarget = Printer::destinationSteps[E_AXIS]; */ // CCW angle between position and target from circle center. Only one atan2() trig computation required. - float angular_travel = (float)utilities::atan2((double)(r_axis0 * rt_axis1) - (double)(r_axis1 * rt_axis0), (double)(r_axis0 * rt_axis0) + (double)(r_axis1 * rt_axis1)); + float angular_travel = (float)utilities::atan2((double)r_axis0 * rt_axis1 - (double)r_axis1 * rt_axis0, (double)r_axis0 * rt_axis0 + (double)r_axis1 * rt_axis1); if ((!isclockwise && angular_travel <= 0.00001) || (isclockwise && angular_travel < -0.000001)) { - angular_travel += 2.0f * (float)M_PI; + angular_travel += 2.0f * PI_FLOAT; } if (isclockwise) { - angular_travel -= 2.0f * (float)M_PI; + angular_travel -= 2.0f * PI_FLOAT; } - float millimeters_of_travel = (float)utilities::fabs(angular_travel) * radius; //hypot(angular_travel*radius, fabs(linear_travel)); + float millimeters_of_travel = (float)utilities::fabs(angular_travel) * radius; if (millimeters_of_travel < 0.001f) { return; // treat as succes because there is nothing to do; } //uint16_t segments = (radius>=BIG_ARC_RADIUS ? floor(millimeters_of_travel/MM_PER_ARC_SEGMENT_BIG) : floor(millimeters_of_travel/MM_PER_ARC_SEGMENT)); // Increase segment size if printing faster then computation speed allows - uint16_t segments = (uint16_t)(feedrate > 60.0f ? utilities::floor(millimeters_of_travel / utilities::min(static_cast<float>(args_.mm_per_arc_segment), feedrate * 0.01666f * static_cast<float>(args_.mm_per_arc_segment))) : utilities::floor(millimeters_of_travel / static_cast<float>(args_.mm_per_arc_segment))); + uint16_t segments = (uint16_t)(feedrate > 60.0f ? utilities::floorf(millimeters_of_travel / utilities::minf(static_cast<float>(args_.mm_per_arc_segment), feedrate * 0.01666f * static_cast<float>(args_.mm_per_arc_segment))) : utilities::floorf(millimeters_of_travel / static_cast<float>(args_.mm_per_arc_segment))); if (segments == 0) segments = 1; /* @@ -426,8 +426,8 @@ void repetier::arc_1_0_4(float* position, float* target, float* offset, float ra 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 = (float)utilities::cos(i * theta_per_segment); - sin_Ti = (float)utilities::sin(i * theta_per_segment); + cos_Ti = (float)utilities::cos(i * (double)theta_per_segment); + sin_Ti = (float)utilities::sin(i * (double)theta_per_segment); r_axis0 = -offset[0] * cos_Ti + offset[1] * sin_Ti; r_axis1 = -offset[0] * sin_Ti - offset[1] * cos_Ti; count = 0; @@ -444,14 +444,6 @@ void repetier::arc_1_0_4(float* position, float* target, float* offset, float ra moveToReal(target[X_AXIS], target[Y_AXIS], position[Z_AXIS], target[E_AXIS]); } -float repetier::min(float x, float y) -{ - if (x < y) - { - return x; - } - return y; -} //void repetier::buffer_line_kinematic(float x, float y, float z, const float& e, float feed_rate, uint8_t extruder, const float* gcode_target) void repetier::moveToReal(float x, float y, float z, float e) |