diff options
Diffstat (limited to 'klippy/extras/gcode_arcs.py')
| -rw-r--r-- | klippy/extras/gcode_arcs.py | 79 |
1 files changed, 47 insertions, 32 deletions
diff --git a/klippy/extras/gcode_arcs.py b/klippy/extras/gcode_arcs.py index 3917dac3..2e13e3af 100644 --- a/klippy/extras/gcode_arcs.py +++ b/klippy/extras/gcode_arcs.py @@ -28,10 +28,10 @@ class ArcSupport: def __init__(self, config): self.printer = config.get_printer() - self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0) + self.mm_per_arc_segment = config.getfloat("resolution", 1.0, above=0.0) - self.gcode_move = self.printer.load_object(config, 'gcode_move') - self.gcode = self.printer.lookup_object('gcode') + self.gcode_move = self.printer.load_object(config, "gcode_move") + self.gcode = self.printer.lookup_object("gcode") self.gcode.register_command("G2", self.cmd_G2) self.gcode.register_command("G3", self.cmd_G3) @@ -59,30 +59,32 @@ class ArcSupport: def _cmd_inner(self, gcmd, clockwise): gcodestatus = self.gcode_move.get_status() - if not gcodestatus['absolute_coordinates']: + 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'] + currentPos = gcodestatus["gcode_position"] + absolut_extrude = gcodestatus["absolute_extrude"] # Parse parameters - asTarget = [gcmd.get_float("X", currentPos[0]), - gcmd.get_float("Y", currentPos[1]), - gcmd.get_float("Z", currentPos[2])] + 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 - I = gcmd.get_float('I', 0.) - J = gcmd.get_float('J', 0.) + I = gcmd.get_float("I", 0.0) + J = gcmd.get_float("J", 0.0) asPlanar = (I, J) axes = (X_AXIS, Y_AXIS, Z_AXIS) if self.plane == ARC_PLANE_X_Z: - K = gcmd.get_float('K', 0.) + K = gcmd.get_float("K", 0.0) asPlanar = (I, K) axes = (X_AXIS, Z_AXIS, Y_AXIS) elif self.plane == ARC_PLANE_Y_Z: - K = gcmd.get_float('K', 0.) + K = gcmd.get_float("K", 0.0) asPlanar = (J, K) axes = (Y_AXIS, Z_AXIS, X_AXIS) @@ -90,8 +92,9 @@ class ArcSupport: raise gcmd.error("G2/G3 requires IJ, IK or JK parameters") # Build linear coordinates to move - self.planArc(currentPos, asTarget, asPlanar, clockwise, - gcmd, absolut_extrude, *axes) + self.planArc( + currentPos, asTarget, asPlanar, clockwise, gcmd, absolut_extrude, *axes + ) # function planArc() originates from marlin plan_arc() # https://github.com/MarlinFirmware/Marlin @@ -101,9 +104,18 @@ class ArcSupport: # Arcs smaller then this value, will be a Line only # # alpha and beta axes are the current plane, helical axis is linear travel - def planArc(self, currentPos, targetPos, offset, clockwise, - gcmd, absolut_extrude, - alpha_axis, beta_axis, helical_axis): + def planArc( + self, + currentPos, + targetPos, + offset, + clockwise, + gcmd, + absolut_extrude, + alpha_axis, + beta_axis, + helical_axis, + ): # todo: sometimes produces full circles # Radius vector from center to current location @@ -115,19 +127,22 @@ class ArcSupport: center_Q = currentPos[beta_axis] - r_Q rt_Alpha = targetPos[alpha_axis] - center_P rt_Beta = targetPos[beta_axis] - center_Q - angular_travel = math.atan2(r_P * rt_Beta - r_Q * rt_Alpha, - r_P * rt_Alpha + r_Q * rt_Beta) - if angular_travel < 0.: - angular_travel += 2. * math.pi + angular_travel = math.atan2( + r_P * rt_Beta - r_Q * rt_Alpha, r_P * rt_Alpha + r_Q * rt_Beta + ) + if angular_travel < 0.0: + angular_travel += 2.0 * math.pi if clockwise: - angular_travel -= 2. * math.pi + angular_travel -= 2.0 * math.pi - if (angular_travel == 0. + if ( + angular_travel == 0.0 and currentPos[alpha_axis] == targetPos[alpha_axis] - and currentPos[beta_axis] == targetPos[beta_axis]): + and currentPos[beta_axis] == targetPos[beta_axis] + ): # Make a circle if the angular rotation is 0 and the # target is current position - angular_travel = 2. * math.pi + angular_travel = 2.0 * math.pi # Determine number of segments linear_travel = targetPos[helical_axis] - currentPos[helical_axis] @@ -137,7 +152,7 @@ class ArcSupport: mm_of_travel = math.hypot(flat_mm, linear_travel) else: mm_of_travel = math.fabs(flat_mm) - segments = max(1., math.floor(mm_of_travel / self.mm_per_arc_segment)) + segments = max(1.0, math.floor(mm_of_travel / self.mm_per_arc_segment)) # Generate coordinates theta_per_segment = angular_travel / segments @@ -146,7 +161,7 @@ class ArcSupport: asE = gcmd.get_float("E", None) asF = gcmd.get_float("F", None) - e_per_move = e_base = 0. + e_per_move = e_base = 0.0 if asE is not None: if absolut_extrude: e_base = currentPos[3] @@ -165,19 +180,19 @@ class ArcSupport: c[beta_axis] = center_Q + r_Q c[helical_axis] = currentPos[helical_axis] + dist_Helical - if i == segments: c = targetPos # Convert coords into G1 commands - g1_params = {'X': c[0], 'Y': c[1], 'Z': c[2]} + g1_params = {"X": c[0], "Y": c[1], "Z": c[2]} if e_per_move: - g1_params['E'] = e_base + e_per_move + g1_params["E"] = e_base + e_per_move if absolut_extrude: e_base += e_per_move if asF is not None: - g1_params['F'] = asF + g1_params["F"] = asF g1_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params) self.gcode_move.cmd_G1(g1_gcmd) + def load_config(config): return ArcSupport(config) |