ManuelW/grbl-LPC-CoreXY
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arc code complete with support for both R and IJK style blocks

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Simen Svale Skogsrud
2009-02-01 11:58:21 +01:00
parent e21064bd86
commit 9799955555
6 changed files with 161 additions and 213 deletions
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174
arc_algorithm/arc.rb
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@ -244,160 +244,6 @@ class CircleTest
return {:tx => tx, :ty => ty, :x => x, :y => y}
end
# A DDA-direct search circle interpolator unrolled for each octant. Optimal and impure
def arc_unrolled(theta, angular_travel, radius)
radius = radius
x = (sin(theta)*radius).round
y = (cos(theta)*radius).round
angular_direction = angular_travel.sign
tx = (sin(theta+angular_travel)*(radius-0.5)).floor
ty = (cos(theta+angular_travel)*(radius-0.5)).floor
f = (x**2 + y**2 - radius**2).round
x2 = 2*x
y2 = 2*y
dx = (y==0) ? -x.sign : y.sign*angular_direction
dy = (x==0) ? -y.sign : -x.sign*angular_direction
max_steps = (angular_travel.abs*radius*2).floor
# Quandrants of the circls
# \ 1|2 /
# 8\ | / 3
# \|/
# ---------|-----------
# 7 /|\ 4
# / | \
# / 6 | 5 \
#
#
#
if angular_direction>0 # clockwise
if x.abs<y.abs # quad 1,2,6,5
if y>0 # quad 1,2
while x<0 # quad 1 x+,y+
x += 1
f += 1+x2
x2 += 2
f_diagonal = f + 1 + y2
if (f.abs >= f_diagonal.abs)
y += 1
y2 += 2
f = f_diagonal
end
end
while x>=0 # quad 2, x+, y-
x += 1
f += 1+x2
x2 += 2
f_diagonal = f + 1 - y2
if (f.abs >= f_diagonal.abs)
y -= 1
y2 -= 2
f = f_diagonal
end
end
end
if y<=0 # quad 6, 5
while x<0 # quad 6 x-, y+
x -= 1
f += 1-x2
x2 -= 2
f_diagonal = f + 1 + y2
if (f.abs >= f_diagonal.abs)
y += 1
y2 += 2
f = f_diagonal
end
end
while x>=0 # quad 5 x-, y-
x -= 1
f += 1-x2
x2 -= 2
f_diagonal = f + 1 - y2
if (f.abs >= f_diagonal.abs)
y -= 1
y2 -= 2
f = f_diagonal
end
end
end
# Quandrants of the circls
# \ 1|2 /
# 8\ | / 3
# \|/
# ---------|-----------
# 7 /|\ 4
# / | \
# / 6 | 5 \
else 3 # quad 3,4,7,8
if x>0 # quad 3,4
while y>0 # quad 3 x+,y+
x += 1
f += 1+x2
x2 += 2
f_diagonal = f + 1 + y2
if (f.abs >= f_diagonal.abs)
y += 1
y2 += 2
f = f_diagonal
end
end
while x>=0 # quad 2, x+, y-
x += 1
f += 1+x2
x2 += 2
f_diagonal = f + 1 - y2
if (f.abs >= f_diagonal.abs)
y -= 1
y2 -= 2
f = f_diagonal
end
end
end
if y<=0 # quad 6, 5
while x<0 # quad 6 x-, y+
x -= 1
f += 1-x2
x2 -= 2
f_diagonal = f + 1 + y2
if (f.abs >= f_diagonal.abs)
y += 1
y2 += 2
f = f_diagonal
end
end
while x>=0 # quad 5 x-, y-
x -= 1
f += 1-x2
x2 -= 2
f_diagonal = f + 1 - y2
if (f.abs >= f_diagonal.abs)
y -= 1
y2 -= 2
f = f_diagonal
end
end
end
else
y += dy
f += 1+y2*dy
y2 += 2*dy
f_diagonal = f + 1 + x2*dx
if (f.abs >= f_diagonal.abs)
x += dx
dy = -x.sign*angular_direction unless x == 0
x2 += 2*dx
f = f_diagonal
end
dx = y.sign*angular_direction unless y == 0
end
break if x*ty.sign*angular_direction>=tx*ty.sign*angular_direction && y*tx.sign*angular_direction<=ty*tx.sign*angular_direction
end
plot_pixel(tx+20, -ty+20, "o")
return {:tx => tx, :ty => ty, :x => x, :y => y}
end
end
@ -405,16 +251,16 @@ end
test = CircleTest.new
test.init
#test.arc_clean(0, Math::PI*2, 5)
(1..10000).each do |r|
test.init
data = test.arc_supaoptimal(2.9, Math::PI*1, r)
if (data[:tx]-data[:x]).abs > 1 || (data[:ty]-data[:y]).abs > 1
puts "r=#{r} fails target control"
pp data
puts
end
end
test.arc_clean(0, Math::PI*2, 3)
# (1..10000).each do |r|
# test.init
# data = test.arc_supaoptimal(2.9, Math::PI*1, r)
# if (data[:tx]-data[:x]).abs > 1 || (data[:ty]-data[:y]).abs > 1
# puts "r=#{r} fails target control"
# pp data
# puts
# end
# end
# test.init
# data = test.arc_supaoptimal(1.1, -Math::PI, 19)