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Use absolute value in calculating total_angular in G2/G3 Motion #22407

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merged 3 commits into from
Jul 20, 2021
Merged

Use absolute value in calculating total_angular in G2/G3 Motion #22407

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f227a45
Update G2/G3 Motion Calculation
yash-fn Jul 20, 2021
52b2d72
Update G2_G3.cpp
thinkyhead Jul 20, 2021
969c5af
Update G2_G3.cpp
thinkyhead Jul 20, 2021
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15 changes: 9 additions & 6 deletions Marlin/src/gcode/motion/G2_G3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,12 +83,13 @@ void plan_arc(
#endif

// Angle of rotation between position and target from the circle center.
float angular_travel;
float angular_travel, abs_angular_travel;

// Do a full circle if starting and ending positions are "identical"
if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
// Preserve direction for circles
angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
abs_angular_travel = RADIANS(360);
}
else {
// Calculate the angle
Expand All @@ -103,8 +104,10 @@ void plan_arc(
case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
}

abs_angular_travel = ABS(angular_travel);

#ifdef MIN_ARC_SEGMENTS
min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
min_segments = CEIL(min_segments * abs_angular_travel / RADIANS(360));
NOLESS(min_segments, 1U);
#endif
}
Expand All @@ -117,8 +120,8 @@ void plan_arc(
#endif

// If circling around...
if (ENABLED(ARC_P_CIRCLES) && circles) {
const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
if (TERN0(ARC_P_CIRCLES, circles)) {
const float total_angular = abs_angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total

#if HAS_Z_AXIS
Expand All @@ -138,8 +141,8 @@ void plan_arc(
TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
}

const float flat_mm = radius * angular_travel,
mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm);
const float flat_mm = radius * abs_angular_travel,
mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) flat_mm;
if (mm_of_travel < 0.001f) return;

const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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