ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

added segmented arc support with configurable segmentation

Browse Source
This commit is contained in:
Simen Svale Skogsrud
2010-03-03 01:39:44 +01:00
parent df243d2490
commit 49ca861dc0
5 changed files with 28 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
motion_control.c
View File

@ -105,7 +105,25 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
// ISSUE: The arc interpolator assumes all axes have the same steps/mm as the X axis.
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate)
{
{
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = ceil(millimeters_of_travel/MM_PER_ARC_SEGMENT);
if (invert_feed_rate) { feed_rate *= segments; }
double theta_per_segment = angular_travel/segments;
double linear_per_segment = linear_travel/segments;
double center_x = (position[axis_1]/X_STEPS_PER_MM)-sin(theta)*radius;
double center_y = (position[axis_2]/Y_STEPS_PER_MM)-cos(theta)*radius;
double target[3];
int i;
target[axis_linear] = position[axis_linear];
for (i=0; i<=segments; i++) {
target[axis_linear] += linear_per_segment;
theta += theta_per_segment;
target[axis_1] = center_x+sin(theta)*radius;
target[axis_2] = center_y+cos(theta)*radius;
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
}
}
void mc_go_home()