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# adds support fro ARC commands via G2/G3
#
# Copyright (C) 2019 Aleksej Vasiljkovic <achmed21@gmail.com>
#
# function planArc() originates from https://github.com/MarlinFirmware/Marlin
# Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math
# Coordinates created by this are converted into G1 commands.
#
# supports XY, XZ & YZ planes with remaining axis as helical
# Enum
ARC_PLANE_X_Y = 0
ARC_PLANE_X_Z = 1
ARC_PLANE_Y_Z = 2
# Enum
X_AXIS = 0
Y_AXIS = 1
Z_AXIS = 2
E_AXIS = 3
class ArcSupport:
def __init__(self, config):
self.printer = config.get_printer()
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.register_command("G2", self.cmd_G2)
self.gcode.register_command("G3", self.cmd_G3)
self.gcode.register_command("G17", self.cmd_G17)
self.gcode.register_command("G18", self.cmd_G18)
self.gcode.register_command("G19", self.cmd_G19)
# backwards compatibility, prior implementation only supported XY
self.plane = ARC_PLANE_X_Y
def cmd_G2(self, gcmd):
self._cmd_inner(gcmd, True)
def cmd_G3(self, gcmd):
self._cmd_inner(gcmd, False)
def cmd_G17(self, gcmd):
self.plane = ARC_PLANE_X_Y
def cmd_G18(self, gcmd):
self.plane = ARC_PLANE_X_Z
def cmd_G19(self, gcmd):
self.plane = ARC_PLANE_Y_Z
def _cmd_inner(self, gcmd, clockwise):
gcodestatus = self.gcode_move.get_status()
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 = [
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", 0.0)
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", 0.0)
asPlanar = (I, K)
axes = (X_AXIS, Z_AXIS, Y_AXIS)
elif self.plane == ARC_PLANE_Y_Z:
K = gcmd.get_float("K", 0.0)
asPlanar = (J, K)
axes = (Y_AXIS, Z_AXIS, X_AXIS)
if not (asPlanar[0] or asPlanar[1]):
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
)
# function planArc() originates from marlin plan_arc()
# https://github.com/MarlinFirmware/Marlin
#
# The arc is approximated by generating many small linear segments.
# The length of each segment is configured in MM_PER_ARC_SEGMENT
# 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,
):
# todo: sometimes produces full circles
# Radius vector from center to current location
r_P = -offset[0]
r_Q = -offset[1]
# Determine angular travel
center_P = currentPos[alpha_axis] - r_P
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 < 0.0:
angular_travel += 2.0 * math.pi
if clockwise:
angular_travel -= 2.0 * math.pi
if (
angular_travel == 0.0
and currentPos[alpha_axis] == targetPos[alpha_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 = 2.0 * math.pi
# Determine number of segments
linear_travel = targetPos[helical_axis] - currentPos[helical_axis]
radius = math.hypot(r_P, r_Q)
flat_mm = radius * angular_travel
if linear_travel:
mm_of_travel = math.hypot(flat_mm, linear_travel)
else:
mm_of_travel = math.fabs(flat_mm)
segments = max(1.0, math.floor(mm_of_travel / self.mm_per_arc_segment))
# Generate coordinates
theta_per_segment = angular_travel / segments
linear_per_segment = linear_travel / segments
asE = gcmd.get_float("E", None)
asF = gcmd.get_float("F", None)
e_per_move = e_base = 0.0
if asE is not None:
if absolut_extrude:
e_base = currentPos[3]
e_per_move = (asE - e_base) / segments
for i in range(1, int(segments) + 1):
dist_Helical = i * linear_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
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
if i == segments:
c = targetPos
# Convert coords into G1 commands
g1_params = {"X": c[0], "Y": c[1], "Z": c[2]}
if 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_gcmd = self.gcode.create_gcode_command("G1", "G1", g1_params)
self.gcode_move.cmd_G1(g1_gcmd)
def load_config(config):
return ArcSupport(config)
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