gcode_arcs: support XY, XZ and YZ planes
add G17, G18 and G19 commands to select arc planes enhance G2/G3 to support arc moves in XY, XZ and YZ planes Signed-off-by: Andrew Mirsky <andrew@mirsky.net>
This commit is contained in:
Andrew Mirsky
KevinOConnor
parent
c7f323e863
commit
0c5c87d7c0
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@ -549,8 +549,9 @@ clears any error state from the micro-controller.
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The following standard G-Code commands are available if a
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[gcode_arcs config section](Config_Reference.md#gcode_arcs) is
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enabled:
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- Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
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[E<pos>] [F<speed>] I<value> J<value>`
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- Arc Move Clockwise (G2), Arc Move Counter-clockwise (G3): `G2|G3 [X<pos>] [Y<pos>] [Z<pos>]
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[E<pos>] [F<speed>] I<value> J<value>|I<value> K<value>|J<value> K<value>`
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- Arc Plane Select: G17 (XY plane), G18 (XZ plane), G19 (YZ plane)
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### [gcode_macro]
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@ -7,12 +7,25 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math
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from gcode import Coord
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# Coordinates created by this are converted into G1 commands.
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#
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# note: only IJ version available
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# supports XY, XZ & YZ planes with remaining axis as helical
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# Enum
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ARC_PLANE_X_Y = 0
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ARC_PLANE_X_Z = 1
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ARC_PLANE_Y_Z = 2
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# Enum
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X_AXIS = 0
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Y_AXIS = 1
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Z_AXIS = 2
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E_AXIS = 3
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class ArcSupport:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.mm_per_arc_segment = config.getfloat('resolution', 1., above=0.0)
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@ -22,12 +35,28 @@ class ArcSupport:
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self.gcode.register_command("G2", self.cmd_G2)
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self.gcode.register_command("G3", self.cmd_G3)
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self.gcode.register_command("G17", self.cmd_G17)
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self.gcode.register_command("G18", self.cmd_G18)
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self.gcode.register_command("G19", self.cmd_G19)
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# backwards compatibility, prior implementation only supported XY
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self.plane = ARC_PLANE_X_Y
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def cmd_G2(self, gcmd):
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self._cmd_inner(gcmd, True)
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def cmd_G3(self, gcmd):
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self._cmd_inner(gcmd, False)
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def cmd_G17(self, gcmd):
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self.plane = ARC_PLANE_X_Y
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def cmd_G18(self, gcmd):
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self.plane = ARC_PLANE_X_Z
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def cmd_G19(self, gcmd):
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self.plane = ARC_PLANE_Y_Z
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def _cmd_inner(self, gcmd, clockwise):
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gcodestatus = self.gcode_move.get_status()
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if not gcodestatus['absolute_coordinates']:
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@ -35,21 +64,33 @@ class ArcSupport:
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currentPos = gcodestatus['gcode_position']
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# Parse parameters
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asX = gcmd.get_float("X", currentPos[0])
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asY = gcmd.get_float("Y", currentPos[1])
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asZ = gcmd.get_float("Z", currentPos[2])
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asTarget = Coord(x=gcmd.get_float("X", currentPos[0]),
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y=gcmd.get_float("Y", currentPos[1]),
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z=gcmd.get_float("Z", currentPos[2]),
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e=None)
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if gcmd.get_float("R", None) is not None:
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raise gcmd.error("G2/G3 does not support R moves")
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asI = gcmd.get_float("I", 0.)
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asJ = gcmd.get_float("J", 0.)
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if not asI and not asJ:
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raise gcmd.error("G2/G3 neither I nor J given")
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# determine the plane coordinates and the helical axis
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asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IJ') ]
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axes = (X_AXIS, Y_AXIS, Z_AXIS)
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if self.plane == ARC_PLANE_X_Z:
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asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('IK') ]
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axes = (X_AXIS, Z_AXIS, Y_AXIS)
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elif self.plane == ARC_PLANE_Y_Z:
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asPlanar = [ gcmd.get_float(a, 0.) for i,a in enumerate('JK') ]
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axes = (Y_AXIS, Z_AXIS, X_AXIS)
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if not asPlanar[0] or not asPlanar[1]:
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raise gcmd.error("G2/G3 requires IJ, IK or JK parameters")
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asE = gcmd.get_float("E", None)
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asF = gcmd.get_float("F", None)
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# Build list of linear coordinates to move to
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coords = self.planArc(currentPos, [asX, asY, asZ], [asI, asJ],
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clockwise)
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# Build list of linear coordinates to move
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coords = self.planArc(currentPos, asTarget, asPlanar,
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clockwise, *axes)
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e_per_move = e_base = 0.
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if asE is not None:
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if gcodestatus['absolute_extrude']:
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@ -74,37 +115,37 @@ class ArcSupport:
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# The arc is approximated by generating many small linear segments.
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# The length of each segment is configured in MM_PER_ARC_SEGMENT
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# Arcs smaller then this value, will be a Line only
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def planArc(self, currentPos, targetPos, offset, clockwise):
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#
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# alpha and beta axes are the current plane, helical axis is linear travel
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def planArc(self, currentPos, targetPos, offset, clockwise,
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alpha_axis, beta_axis, helical_axis):
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# todo: sometimes produces full circles
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X_AXIS = 0
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Y_AXIS = 1
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Z_AXIS = 2
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# Radius vector from center to current location
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r_P = -offset[0]
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r_Q = -offset[1]
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# Determine angular travel
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center_P = currentPos[X_AXIS] - r_P
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center_Q = currentPos[Y_AXIS] - r_Q
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rt_X = targetPos[X_AXIS] - center_P
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rt_Y = targetPos[Y_AXIS] - center_Q
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angular_travel = math.atan2(r_P * rt_Y - r_Q * rt_X,
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r_P * rt_X + r_Q * rt_Y)
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center_P = currentPos[alpha_axis] - r_P
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center_Q = currentPos[beta_axis] - r_Q
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rt_Alpha = targetPos[alpha_axis] - center_P
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rt_Beta = targetPos[beta_axis] - center_Q
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angular_travel = math.atan2(r_P * rt_Beta - r_Q * rt_Alpha,
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r_P * rt_Alpha + r_Q * rt_Beta)
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if angular_travel < 0.:
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angular_travel += 2. * math.pi
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if clockwise:
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angular_travel -= 2. * math.pi
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if (angular_travel == 0.
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and currentPos[X_AXIS] == targetPos[X_AXIS]
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and currentPos[Y_AXIS] == targetPos[Y_AXIS]):
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and currentPos[alpha_axis] == targetPos[alpha_axis]
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and currentPos[beta_axis] == targetPos[beta_axis]):
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# Make a circle if the angular rotation is 0 and the
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# target is current position
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angular_travel = 2. * math.pi
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# Determine number of segments
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linear_travel = targetPos[Z_AXIS] - currentPos[Z_AXIS]
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linear_travel = targetPos[helical_axis] - currentPos[helical_axis]
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radius = math.hypot(r_P, r_Q)
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flat_mm = radius * angular_travel
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if linear_travel:
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@ -118,14 +159,18 @@ class ArcSupport:
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linear_per_segment = linear_travel / segments
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coords = []
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for i in range(1, int(segments)):
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dist_Z = i * linear_per_segment
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dist_Helical = i * linear_per_segment
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cos_Ti = math.cos(i * theta_per_segment)
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sin_Ti = math.sin(i * theta_per_segment)
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r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti
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r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti
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c = [center_P + r_P, center_Q + r_Q, currentPos[Z_AXIS] + dist_Z]
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coords.append(c)
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# Coord doesn't support index assignment, create list
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c = [None, None, None, None]
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c[alpha_axis] = center_P + r_P
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c[beta_axis] = center_Q + r_Q
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c[helical_axis] = currentPos[helical_axis] + dist_Helical
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coords.append(Coord(*c))
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coords.append(targetPos)
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return coords
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@ -2,10 +2,31 @@
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DICTIONARY atmega2560.dict
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CONFIG gcode_arcs.cfg
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# Home and move in arcs
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# Home and move in XY arc
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G28
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G90
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G1 X20 Y20 Z20
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G2 X125 Y32 Z20 E1 I10.5 J10.5
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# XY+Z arc move
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G2 X20 Y20 Z10 E1 I10.5 J10.5
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# Home and move in XZ arc
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G28
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G90
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G1 X20 Y20 Z20
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G18
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G2 X125 Y20 Z32 E1 I10.5 K10.5
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# XZ+Y arc move
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G2 X20 Y10 Z20 E1 I10.5 K10.5
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# Home and move in YZ arc
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G28
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G90
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G1 X20 Y20 Z20
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G19
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G2 X20 Y125 Z32 E1 J10.5 K10.5
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# YZ+X arc move
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G2 X10 Y20 Z20 E1 J10.5 K10.5
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