diff options
| -rw-r--r-- | klippy/extras/gcode_arcs.py | 42 |
1 files changed, 22 insertions, 20 deletions
diff --git a/klippy/extras/gcode_arcs.py b/klippy/extras/gcode_arcs.py index 76c165dd..df68954e 100644 --- a/klippy/extras/gcode_arcs.py +++ b/klippy/extras/gcode_arcs.py @@ -39,8 +39,6 @@ class ArcSupport: self.gcode.register_command("G18", self.cmd_G18) self.gcode.register_command("G19", self.cmd_G19) - self.Coord = self.gcode.Coord - # backwards compatibility, prior implementation only supported XY self.plane = ARC_PLANE_X_Y @@ -64,24 +62,28 @@ class ArcSupport: if not gcodestatus['absolute_coordinates']: raise gcmd.error("G2/G3 does not support relative move mode") currentPos = gcodestatus['gcode_position'] + absolut_extrude = gcodestatus['absolute_extrude'] # Parse parameters - asTarget = self.Coord(x=gcmd.get_float("X", currentPos[0]), - y=gcmd.get_float("Y", currentPos[1]), - z=gcmd.get_float("Z", currentPos[2]), - e=None) + asTarget = [gcmd.get_float("X", currentPos[0]), + gcmd.get_float("Y", currentPos[1]), + gcmd.get_float("Z", currentPos[2])] if gcmd.get_float("R", None) is not None: raise gcmd.error("G2/G3 does not support R moves") # determine the plane coordinates and the helical axis - asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IJ') ] + I = gcmd.get_float('I', 0.) + J = gcmd.get_float('J', 0.) + asPlanar = (I, J) axes = (X_AXIS, Y_AXIS, Z_AXIS) if self.plane == ARC_PLANE_X_Z: - asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IK') ] + K = gcmd.get_float('K', 0.) + asPlanar = (I, K) axes = (X_AXIS, Z_AXIS, Y_AXIS) elif self.plane == ARC_PLANE_Y_Z: - asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('JK') ] + K = gcmd.get_float('K', 0.) + asPlanar = (J, K) axes = (Y_AXIS, Z_AXIS, X_AXIS) if not (asPlanar[0] or asPlanar[1]): @@ -91,20 +93,20 @@ class ArcSupport: asF = gcmd.get_float("F", None) # Build list of linear coordinates to move - coords = self.planArc(currentPos, asTarget, asPlanar, - clockwise, *axes) + segments, coords = self.planArc(currentPos, asTarget, asPlanar, + clockwise, *axes) e_per_move = e_base = 0. if asE is not None: - if gcodestatus['absolute_extrude']: + if absolut_extrude: e_base = currentPos[3] - e_per_move = (asE - e_base) / len(coords) + e_per_move = (asE - e_base) / segments # Convert coords into G1 commands for coord in coords: g1_params = {'X': coord[0], 'Y': coord[1], 'Z': coord[2]} if e_per_move: g1_params['E'] = e_base + e_per_move - if gcodestatus['absolute_extrude']: + if absolut_extrude: e_base += e_per_move if asF is not None: g1_params['F'] = asF @@ -162,20 +164,20 @@ class ArcSupport: coords = [] for i in range(1, int(segments)): dist_Helical = i * linear_per_segment - cos_Ti = math.cos(i * theta_per_segment) - sin_Ti = math.sin(i * theta_per_segment) + c_theta = i * theta_per_segment + cos_Ti = math.cos(c_theta) + sin_Ti = math.sin(c_theta) r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti - # Coord doesn't support index assignment, create list - c = [None, None, None, None] + c = [None, None, None] c[alpha_axis] = center_P + r_P c[beta_axis] = center_Q + r_Q c[helical_axis] = currentPos[helical_axis] + dist_Helical - coords.append(self.Coord(*c)) + coords.append(c) coords.append(targetPos) - return coords + return segments, coords def load_config(config): return ArcSupport(config) |