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Improve accuracy of G2 and G3 motion #18144

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merged 1 commit into from
May 31, 2020

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eyal0
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@eyal0 eyal0 commented May 28, 2020

Description

  • Improve small angle sine approximation with an addition term from the MacLaurin series. This makes the actual arc more closely follow the true arc.
  • Allow the planner to correctly calculate the actual distance traveled. This is important so that the time spent on the motion is accurate.

Benefits

Smoother arcs and more consistent feedrate during those arcs.

Related Issues

This fixes #18141 .
This fixes #17348 .

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2 participants