1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Arc Welder: Inverse Processor (firmware simulator).
// Please see the copyright notices in the function definitions
//
// 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.
//
// Based on arc interpolation implementations from:
// Marlin 1.x (see https://github.com/MarlinFirmware/Marlin/blob/1.0.x/LICENSE for the current license)
// Marlin 2.x (see https://github.com/MarlinFirmware/Marlin/blob/2.0.x/LICENSE for the current license)
// Prusa-Firmware (see https://github.com/prusa3d/Prusa-Firmware/blob/MK3/LICENSE for the current license)
// Smoothieware (see https://github.com/Smoothieware/Smoothieware for the current license)
// Repetier (see https://github.com/repetier/Repetier-Firmware for the current license)
//
// 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 <string>
#include "gcode_position.h"
#include "firmware.h"
#include "arc_interpolation_structs.h"
#include <iostream>
#include <string>
#include <sstream>
#include <iomanip>
#include <fstream>
struct ConfigurationStore {
ConfigurationStore() {
mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
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 prusa :
public firmware
{
public:
enum class prusa_firmware_versions { V3_10_0 = 0, V3_11_0 = 1 };
typedef unsigned char uint8_t;
typedef unsigned short uint16_t;
typedef signed char int8_t;
enum AxisEnum { X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2, E_AXIS = 3, X_HEAD = 4, Y_HEAD = 5 };
prusa(firmware_arguments args);
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:
std::string gcodes_;
/// <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>
ConfigurationStore cs;
typedef void(prusa::*mc_arc_func)(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder);
void mc_arc_3_10_0(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder);
void mc_arc_3_11_0(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder);
void clamp_to_software_endstops(float* target);
void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, uint8_t extruder, const float* gcode_target);
mc_arc_func mc_arc_;
prusa::prusa_firmware_versions prusa_version_;
};
|
