ManuelW/grbl-LPC-CoreXY
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fixed a double rounding error compensation bug in mc_arc thanks to Etienne Chové

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Simen Svale Skogsrud 2011-02-23 20:06:55 +01:00
parent ef20be9f4c
commit 60f417b570
1 changed files with 2 additions and 2 deletions
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motion_control.c
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@ -52,7 +52,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel)); double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
if (millimeters_of_travel == 0.0) { return; } if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment); uint16_t segments = round(millimeters_of_travel/settings.mm_per_arc_segment);
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated // Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of // by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments. // all segments.
@ -69,7 +69,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
int i; int i;
// Initialize the linear axis // Initialize the linear axis
target[axis_linear] = position[axis_linear]; target[axis_linear] = position[axis_linear];
for (i=0; i<=segments; i++) { for (i=0; i<segments; i++) {
target[axis_linear] += linear_per_segment; target[axis_linear] += linear_per_segment;
theta += theta_per_segment; theta += theta_per_segment;
target[axis_1] = center_x+sin(theta)*radius; target[axis_1] = center_x+sin(theta)*radius;