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Proposed fix for #20382 (Unreliable circle detection) #20440

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merged 8 commits into from Dec 23, 2020
Merged

Proposed fix for #20382 (Unreliable circle detection) #20440

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870855a
Proposed fix for #20382 (Unreliable circle detection)
Dec 11, 2020
b6661f3
Altnernate Proposed fix for #20382 (Unreliable circle detection)
Dec 11, 2020
987d18a
Alternate proposal addendum
Dec 11, 2020
05ea5e2
Nest less
thinkyhead Dec 23, 2020
80441b5
Update G2_G3.cpp
thinkyhead Dec 23, 2020
03b5822
Update G2_G3.cpp
thinkyhead Dec 23, 2020
d74bbba
Update G2_G3.cpp
thinkyhead Dec 23, 2020
4ff11e8
Update plan_arc comment
thinkyhead Dec 23, 2020
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28 changes: 17 additions & 11 deletions Marlin/src/gcode/motion/G2_G3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,13 +41,12 @@
#endif

/**
* Plan an arc in 2 dimensions
* Plan an arc in 2 dimensions, with optional linear motion in a 3rd dimension
*
* The arc is approximated by generating many small linear segments.
* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
* Arcs should only be made relatively large (over 5mm), as larger arcs with
* larger segments will tend to be more efficient. Your slicer should have
* options for G2/G3 arc generation. In future these options may be GCode tunable.
* The arc is traced by generating many small linear segments, as configured by
* MM_PER_ARC_SEGMENT (Default 1mm). In the future we hope more slicers will include
* an option to generate G2/G3 arcs for curved surfaces, as this will allow faster
* boards to produce much smoother curved surfaces.
*/
void plan_arc(
const xyze_pos_t &cart, // Destination position
Expand Down Expand Up @@ -77,26 +76,33 @@ void plan_arc(
rt_Y = cart[q_axis] - center_Q,
start_L = current_position[l_axis];

// Angle of rotation between position and target from the circle center.
float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);

#ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = MIN_ARC_SEGMENTS;
#else
constexpr uint16_t min_segments = 1;
#endif

// Do a full circle if angular rotation is near 0 and the target is current position
if (!angular_travel || (NEAR_ZERO(angular_travel) && NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis]))) {
// Angle of rotation between position and target from the circle center.
float angular_travel;

// Do a full circle if starting and ending positions are "identical"
if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
// Preserve direction for circles
angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
}
else {
// Calculate the angle
angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);

// Angular travel too small to detect? Just return.
if (!angular_travel) return;

// Make sure angular travel over 180 degrees goes the other way around.
switch (((angular_travel < 0) << 1) | clockwise) {
case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
}

#ifdef MIN_ARC_SEGMENTS
min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
NOLESS(min_segments, 1U);
Expand Down