Merge pull request #47 from dacarley/fusion-motion-control

Fixed issues with fusion gcode motion control

package.json

@@ -1,6 +1,6 @@
 {
   "name": "bbctrl",
-  "version": "1.0.7",
+  "version": "1.0.8b1",
   "homepage": "https://onefinitycnc.com/",
   "repository": "https://github.com/OneFinityCNC/onefinity",
   "license": "GPL-3.0+",

scripts/gplan-build.sh

@@ -4,8 +4,14 @@ cd /mnt/host
 scons -j 8 -C cbang disable_local="re2 libevent"
 export CBANG_HOME="/mnt/host/cbang"
 
-perl -i -0pe 's/case 610: setPathMode.*;/case 610: break;/gm' /mnt/host/camotics/src/gcode/ControllerImpl.cpp
-perl -i -0pe 's/case 611: setPathMode.*;/case 611: break;/gm' /mnt/host/camotics/src/gcode/ControllerImpl.cpp
-perl -i -0pe 's/case 640: {[^}]+}/case 640: break;/gm' /mnt/host/camotics/src/gcode/ControllerImpl.cpp
+CAMOTICS_ROOT="/mnt/host/camotics"
+CAMOTICS_PLAN="${CAMOTICS_ROOT}/src/gcode/plan"
+
+mkdir -p ${CAMOTICS_ROOT}/build
+touch ${CAMOTICS_ROOT}/build/version.txt
+
+perl -i -0pe 's/(fabs\((config\.maxVel\[axis\]) \/ unit\[axis\]\));/std::min(\2, \1);/gm' ${CAMOTICS_PLAN}/LineCommand.cpp ${CAMOTICS_PLAN}/LinePlanner.cpp
+perl -i -0pe 's/(fabs\((config\.maxJerk\[axis\]) \/ unit\[axis\]\));/std::min(\2, \1);/gm' ${CAMOTICS_PLAN}/LineCommand.cpp ${CAMOTICS_PLAN}/LinePlanner.cpp
+perl -i -0pe 's/(fabs\((config\.maxAccel\[axis\]) \/ unit\[axis\]\));/std::min(\2, \1);/gm' ${CAMOTICS_PLAN}/LineCommand.cpp ${CAMOTICS_PLAN}/LinePlanner.cpp
 
 scons -j 8 -C camotics gplan.so with_gui=0 with_tpl=0

src/py/bbctrl/Config.py

@@ -164,6 +164,10 @@ class Config(object):
                     motor['max-jerk'] = 1000
                     motor['zero-backoff'] = 1
 
+        if version < (1, 0, 8):
+            config['settings']['max-deviation'] = 0.05
+            config['settings']['junction-accel'] = 200000
+
         config['version'] = self.version.split('b')[0]
         config['full_version'] = self.version
 

src/py/bbctrl/Planner.py

@@ -83,6 +83,7 @@ class Planner():
         state = self.ctrl.state
         config = self.ctrl.config
         is_pwm = config.get('tool-type') == 'PWM Spindle'
+        deviation = config.get('max-deviation')
 
         cfg = {
             # NOTE Must get current units not configured default units
@@ -91,8 +92,9 @@ class Planner():
             'max-accel': state.get_axis_vector('am', 1000000),
             'max-jerk':  state.get_axis_vector('jm', 1000000),
             'rapid-auto-off':  config.get('rapid-auto-off') and is_pwm,
-            'max-blend-error': config.get('max-deviation'),
-            'max-merge-error': config.get('max-deviation'),
+            'max-blend-error': deviation,
+            'max-merge-error': deviation,
+            'max-arc-error':   deviation / 10,
             'junction-accel':  config.get('junction-accel'),
             }
 

src/resources/config-template.json

@@ -9,7 +9,7 @@
       "help":
       "Default allowed deviation from programmed path.  Also see G64 & G61.",
       "type": "float",
-      "min": 0.001,
+      "min": 0.05,
       "max": 100,
       "unit": "mm",
       "default": 0.1

src/resources/onefinity_machinist_defaults.json

@@ -28,7 +28,7 @@
   },
   "settings": {
     "junction-accel": 200000,
-    "max-deviation": 0.001,
+    "max-deviation": 0.05,
     "units": "METRIC",
     "probing-prompts": true
   },

src/resources/onefinity_woodworker_defaults.json

@@ -28,7 +28,7 @@
   },
   "settings": {
     "junction-accel": 200000,
-    "max-deviation": 0.001,
+    "max-deviation": 0.05,
     "units": "METRIC",
     "probing-prompts": true
   },