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			182 lines
		
	
	
		
			5.8 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
			
		
		
	
	
			182 lines
		
	
	
		
			5.8 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
# adds support fro ARC commands via G2/G3
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#
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# Copyright (C) 2019  Aleksej Vasiljkovic <achmed21@gmail.com>
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#
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# function planArc() originates from https://github.com/MarlinFirmware/Marlin
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# Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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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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# uses the plan_arc function from marlin which does steps in mm rather then
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# in degrees. # 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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import math
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import re
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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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        self.gcode = self.printer.lookup_object('gcode')
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        self.gcode.register_command("G2", self.cmd_G2, desc=self.cmd_G2_help)
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        self.gcode.register_command("G3", self.cmd_G2, desc=self.cmd_G3_help)
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    cmd_G2_help = "Counterclockwise rotation move"
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    cmd_G3_help = "Clockwise rotaion move"
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    def cmd_G2(self, params):
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        # set vars
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        currentPos =  self.printer.lookup_object('toolhead').get_position()
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        asX = params.get("X", None)
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        asY = params.get("Y", None)
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        asZ = params.get("Z", None)
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        asR = float(params.get("R", 0.))    #radius
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        asI = float(params.get("I", 0.))
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        asJ = float(params.get("J", 0.))
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        asE = float(params.get("E", 0.))
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        asF = float(params.get("F", -1))
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        # --------- health checks of code -----------
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        if (asX is None or asY is None):
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            raise self.gcode.error("g2/g3: Coords missing")
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        elif asR == 0 and asI == 0 and asJ==0:
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            raise self.gcode.error("g2/g3: neither R nor I and J given")
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        elif asR > 0 and (asI !=0 or asJ!=0):
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            raise self.gcode.error("g2/g3: R, I and J were given. Invalid")
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        else:   # -------- execute conversion -----------
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            coords = []
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            clockwise = params['#command'].lower().startswith("g2")
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            asY = float(asY)
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            asX = float(asX)
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            # use radius
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            # if asR > 0:
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                # not sure if neccessary since R barely seems to be used
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            # use IJK
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            if asI != 0 or asJ!=0:
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                coords = self.planArc(currentPos,
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                            [asX,asY,0.,0.],
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                            [asI, asJ],
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                            clockwise)
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            ###############################
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            # converting coords into G1 codes (lazy aproch)
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            if len(coords)>0:
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                # build dict and call cmd_G1
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                for coord in coords:
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                    g1_params = {'X': coord[0], 'Y': coord[1]}
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                    if asZ!=None:
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                        g1_params['Z']= float(asZ)
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                    if asE>0:
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                        g1_params['E']= float(asE)/len(coords)
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                    if asF>0:
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                        g1_params['F']= asF
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                    self.gcode.cmd_G1(g1_params)
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            else:
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                self.gcode.respond_info(
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                    "could not tranlate from '" + params['#original'] + "'")
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    # function planArc() originates from marlin plan_arc()
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    # https://github.com/MarlinFirmware/Marlin
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    #
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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(
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            self,
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            currentPos,
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            targetPos=[0.,0.,0.,0.],
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            offset=[0.,0.],
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            clockwise=False):
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        # todo: sometimes produces full circles
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        coords = []
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        MM_PER_ARC_SEGMENT = self.mm_per_arc_segment
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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]*-1
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        r_Q = offset[1]*-1
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        radius = math.hypot(r_P, r_Q)
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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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        linear_travel = targetPos[Z_AXIS] - currentPos[Z_AXIS]
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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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        if (angular_travel < 0): angular_travel+= math.radians(360)
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        if (clockwise): angular_travel-= math.radians(360)
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        # Make a circle if the angular rotation is 0
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        # and the target is current position
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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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            angular_travel = math.radians(360)
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        flat_mm = radius * angular_travel
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        mm_of_travel = linear_travel
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        if(mm_of_travel == linear_travel):
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            mm_of_travel = math.hypot(flat_mm, linear_travel)
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        else:
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            mm_of_travel = math.abs(flat_mm)
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        if (mm_of_travel < 0.001):
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            return coords
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        segments = int(math.floor(mm_of_travel / (MM_PER_ARC_SEGMENT)))
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        if(segments<1):
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            segments=1
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        raw = [0.,0.,0.,0.]
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        theta_per_segment = float(angular_travel / segments)
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        linear_per_segment = float(linear_travel / segments)
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        # Initialize the linear axis
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        raw[Z_AXIS] = currentPos[Z_AXIS];
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        for i in range(1,segments+1):
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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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            raw[X_AXIS] = center_P + r_P
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            raw[Y_AXIS] = center_Q + r_Q
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            raw[Z_AXIS] += linear_per_segment
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            coords.append([raw[X_AXIS],  raw[Y_AXIS], raw[Z_AXIS] ])
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        return coords
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def load_config(config):
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    return ArcSupport(config)
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