Arc Direction followup for circles (#20314)
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@ -80,24 +80,26 @@ void plan_arc(
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// Angle of rotation between position and target from the circle center.
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// Angle of rotation between position and target from the circle center.
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float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
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float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
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// Make sure angular travel over 180 degrees goes the other way around.
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switch (((angular_travel < 0) << 1) + clockwise) {
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case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
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case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
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}
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#ifdef MIN_ARC_SEGMENTS
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#ifdef MIN_ARC_SEGMENTS
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uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * ABS(angular_travel) / RADIANS(360));
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uint16_t min_segments = MIN_ARC_SEGMENTS;
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NOLESS(min_segments, 1U);
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#else
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#else
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constexpr uint16_t min_segments = 1;
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constexpr uint16_t min_segments = 1;
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#endif
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#endif
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// Make a circle if the angular rotation is 0 and the target is current position
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// Do a full circle if angular rotation is near 0 and the target is current position
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if (NEAR_ZERO(angular_travel) && NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
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if ((!angular_travel || NEAR_ZERO(angular_travel)) && NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
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angular_travel = RADIANS(360);
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// Preserve direction for circles
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angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
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}
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else {
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// Make sure angular travel over 180 degrees goes the other way around.
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switch (((angular_travel < 0) << 1) | clockwise) {
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case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
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case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
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}
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#ifdef MIN_ARC_SEGMENTS
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#ifdef MIN_ARC_SEGMENTS
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min_segments = MIN_ARC_SEGMENTS;
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min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
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NOLESS(min_segments, 1U);
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#endif
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#endif
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}
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}
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