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blockSplitter.h
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blockSplitter.h
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/*
Kynetic CNC Control Software
Copyright (C) 2017 Phillip Schmidt
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
*/
#ifndef blockSplitter_h
#define blockSplitter_h
#include <arduino.h>
class blockSplitterObject
{
public:
blockSplitterObject();
void setMinLength( float L );
void setMaxLength( float L );
void setAcceleration( float A );
void setArcError( float E );
void addLine( float X0, float Y0, float Z0, float E0, float X1, float Y1, float Z1, float E1, float feedRate );
void addArc( float X0, float Y0, float Z0, float E0, float X1, float Y1, float Z1, float E1, float feedRate, float centerX, float centerY, int direction );
bool getNextSegment();
float x();
float y();
float z();
float e();
float f();
enum MOVE_TYPE_t
{
RAPID,
LINEAR,
ARC_CW,
ARC_CCW
} moveType;
private:
float minLineLength, maxLineLength;
float feed, accel, invAccelX2;
float arcDeviationX8;
float cx, cy, radius, angleStart, dA;
int segmentCount, segmentNow;
struct POINT_4D_t
{
float x, y, z, e;
} now, last, delta;
} blockSplitter;
blockSplitterObject::blockSplitterObject()
{
setMinLength( 2.0f );
setMaxLength( 10.0f );
setAcceleration( 1500.0f );
setArcError( 0.02 );
}
void blockSplitterObject::setMinLength( float L )
{
minLineLength = L;
}
void blockSplitterObject::setMaxLength( float L )
{
maxLineLength = L;
}
void blockSplitterObject::setAcceleration( float A )
{
accel = A * .98; // bias to insure length is slightly longer than accel distance
invAccelX2 = 1.0f / (2.0f * accel);
}
void blockSplitterObject::setArcError( float E )
{
arcDeviationX8 = E * 8.0f;
}
void blockSplitterObject::addLine( float X0, float Y0, float Z0, float E0, float X1, float Y1, float Z1, float E1, float feedRate )
{
moveType = LINEAR;
segmentNow = 0;
feed = feedRate;
float lengthTarget = max( feed * feed * invAccelX2, minLineLength );
now.x = X0;
now.y = Y0;
now.z = Z0;
now.e = E0;
last.x = X1;
last.y = Y1;
last.z = Z1;
last.e = E1;
delta.x = X1 - X0;
delta.y = Y1 - Y0;
delta.z = Z1 - Z0;
delta.e = E1 - E0;
float length = sqrtf( delta.x * delta.x + delta.y * delta.y + delta.z * delta.z );
if( length > lengthTarget )
{
segmentCount = int(length / lengthTarget + 0.5f);
float invLength = 1.0f / float(segmentCount);
delta.x *= invLength;
delta.y *= invLength;
delta.z *= invLength;
delta.e *= invLength;
}
else
{
segmentCount = 1;
}
}
void blockSplitterObject::addArc( float X0, float Y0, float Z0, float E0, float X1, float Y1, float Z1, float E1, float feedRate, float centerX, float centerY, int direction )
{
segmentNow = 0;
cx = centerX;
cy = centerY;
now.x = X0;
now.y = Y0;
now.z = Z0;
now.e = E0;
last.x = X1;
last.y = Y1;
last.z = Z1;
last.e = E1;
delta.x = X1 - X0;
delta.y = Y1 - Y0;
delta.z = Z1 - Z0;
delta.e = E1 - E0;
float rx = X0 - cx;
float ry = Y0 - cy;
radius = sqrtf( rx * rx + ry * ry );
feed = min( feedRate, sqrtf( accel * radius )); // limit to radial acceleration
// Length is limited by both arc path deviation and acceleration. Selects the smaller one.
float pathDeviationLength = sqrtf( radius * arcDeviationX8); // sqrt( radius * arcDev * 8 ) ~= 2 * sqrt( 2 * radius * arcDev + arcDev^2 ) -- simplification to reduce computation
float linearAccelDistance = max( feed * feed * invAccelX2, minLineLength ); // distance to come to a complete stop if at full speed (dont over populate at very low feed rates)
float lengthTarget = min( pathDeviationLength, linearAccelDistance );
angleStart = atan2f( ry, rx );
float arcAngle;
if( delta.x * delta.x + delta.y * delta.y < 0.0001f ) // coincident start/stop points indicate full circle
{
if( direction == 2 )
{
moveType = ARC_CW;
arcAngle = -6.2831853f; // CW - sign dictates direction
}
else
{
moveType = ARC_CCW;
arcAngle = 6.2831853f; // ccw
}
}
else
{
float angleEnd = atan2f( Y1 - cy, X1 - cx );
arcAngle = angleEnd - angleStart;
if( direction == 2 ) // CW direction
{
moveType = ARC_CW;
if( arcAngle > 0.0f ) arcAngle -= 6.2831853f; // when rotating CW, start must be larger than end
}
else // CCW direction
{
moveType = ARC_CCW;
if( arcAngle < 0.0f ) arcAngle += 6.2831853f; // when rotating CCW, end must be larger than start
}
}
segmentCount = int( abs(arcAngle) / (lengthTarget / radius) + 1.0f );
float invCount = 1.0f / float(segmentCount);
dA = arcAngle * invCount;
delta.z = (Z1 - Z0) * invCount;
delta.e = (E1 - E0) * invCount;
}
bool blockSplitterObject::getNextSegment()
{
if( segmentNow < segmentCount )
{
segmentNow++;
if( segmentNow == segmentCount )
{
now.x = last.x; // use end point for last segement
now.y = last.y;
now.z = last.z;
now.e = last.e;
}
else
{
float angle;
switch( moveType )
{
case RAPID:
case LINEAR:
now.x += delta.x; // increment position
now.y += delta.y;
now.z += delta.z;
now.e += delta.e;
break;
case ARC_CW:
case ARC_CCW:
angle = angleStart + dA * float(segmentNow);
now.x = radius * cosf( angle ) + cx;
now.y = radius * sinf( angle ) + cy;
now.z += delta.z;
now.e += delta.e;
break;
}
}
return true;
}
return false;
}
float blockSplitterObject::x()
{
return now.x;
}
float blockSplitterObject::y()
{
return now.y;
}
float blockSplitterObject::z()
{
return now.z;
}
float blockSplitterObject::e()
{
return now.e;
}
float blockSplitterObject::f()
{
return feed;
}
#endif