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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Arc Welder: Marlin 1 arc interpolation simulator. Please see the copyright notices in the function definitions
// starting with plan_arc_ for the original license.
//
// 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) 2021 - 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 "firmware.h"
#define NUM_MARLIN_1_FIRMWARE_VERSIONS 1
#define MARLIN_XYZE 5
class marlin_1 :
public firmware
{
public:
enum class marlin_1_firmware_versions { V1_1_9_1 = 0 };
/// <summary>
/// Types and enums taken from https://github.com/MarlinFirmware/Marlin/blob/1314b31d97bba8cd74c6625c47176d4692f57790/Marlin/enum.h
/// Note that HANGPRINTER has been disabled to reduce impementation complexity
/// </summary>
enum AxisEnum : unsigned char {
X_AXIS = 0,
A_AXIS = 0,
Y_AXIS = 1,
B_AXIS = 1,
Z_AXIS = 2,
C_AXIS = 2,
E_CART = 3,
//#if ENABLED(HANGPRINTER) // Hangprinter order: A_AXIS, B_AXIS, C_AXIS, D_AXIS, E_AXIS
// D_AXIS = 3,
// E_AXIS = 4,
//#else
E_AXIS = 3,
//#endif
X_HEAD, Y_HEAD, Z_HEAD,
ALL_AXES = 0xFE,
NO_AXIS = 0xFF
};
marlin_1(firmware_arguments args);
virtual ~marlin_1();
virtual std::string interpolate_arc(firmware_position& target, double i, double j, double r, bool is_clockwise) override;
virtual firmware_arguments get_default_arguments_for_current_version() const override;
virtual void apply_arguments() override;
private:
marlin_1_firmware_versions marlin_1_version_;
std::string gcodes_;
float* current_position;
float feedrate_mm_s;
/// <summary>
/// A struct representing the prusa configuration store. Note: I didn't add the trailing underscore so this variable name will match the original source algorithm name.
/// </summary>
typedef void(marlin_1::* plan_arc_func)(const float(&cart)[MARLIN_XYZE], // Destination position
const float(&offset)[2], // Center of rotation relative to current_position
const bool clockwise // Clockwise?
);
void plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination position
const float(&offset)[2], // Center of rotation relative to current_position
const bool clockwise // Clockwise?
);
plan_arc_func plan_arc_;
// Marlin Function Defs
void NOLESS(uint16_t& x, uint16_t y);
float MMS_SCALED(float x);
void COPY(float target[MARLIN_XYZE], const float (&source)[MARLIN_XYZE]);
bool buffer_line_kinematic(const float (&cart)[MARLIN_XYZE], double fr_mm_s, int active_extruder);
void clamp_to_software_endstops(const float (&raw)[MARLIN_XYZE]);
};
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