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Add support for G2 & G3 commands that use radius R instead of I & J. #544

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Merged
MaslowCommunityGardenRobot merged 1 commit into from
May 21, 2020
Merged

Add support for G2 & G3 commands that use radius R instead of I & J. #544

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31 changes: 31 additions & 0 deletions cnc_ctrl_v1/GCode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -782,13 +782,44 @@ void G2(const String& readString, int G2orG3){
float Y2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Y', Y1/sys.inchesToMMConversion);
// Read target Z position from gcode. If it is not specified then set it to NAN so it will not be used.
float Z2 = sys.inchesToMMConversion*extractGcodeValue(readString, 'Z', NAN);
float R = sys.inchesToMMConversion*extractGcodeValue(readString, 'R', NAN);
float I = sys.inchesToMMConversion*extractGcodeValue(readString, 'I', 0.0);
float J = sys.inchesToMMConversion*extractGcodeValue(readString, 'J', 0.0);
sys.feedrate = sys.inchesToMMConversion*extractGcodeValue(readString, 'F', sys.feedrate/sys.inchesToMMConversion);

float centerX = X1 + I;
float centerY = Y1 + J;

// Calculate center point using radius R if it is provided.
if (!isnan(R) && R && (X2 != X1 || Y2 != Y1)) {
// e: clockwise -1, counterclockwise 1
const float e = (G2orG3 == 2) ? -1 : 1,
// X and Y differences
dx = X2 - X1,
dy = Y2 - Y1,
// Linear distance between the points.
d = hypot(dx, dy),
// Distance to the arc pivot-point.
h = sqrt(sq(R) - sq(d * 0.5)),
// Point between the two points.
mx = (X1 + X2) * 0.5,
my = (Y1 + Y2) * 0.5,
// Slope of the perpendicular bisector.
sx = -dy / d,
sy = dx / d;
// Pivot-point of the arc.
centerX = mx + e * h * sx;
centerY = my + e * h * sy;
#if defined (verboseDebug) && verboseDebug > 0
Serial.print(F("G0"));
Serial.print(G2orG3);
Serial.print(F(" Radius center: "));
Serial.print(centerX);
Serial.print(F(","));
Serial.println(centerY);
#endif
}

sys.feedrate = constrain(sys.feedrate, 1, sysSettings.maxFeed); //constrain the maximum feedrate, 35ipm = 900 mmpm

// If there is no target Z (Z2) then set Z1 to be NAN so it is not used.
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