Move G5 to cpp

2017-09-15 21:28:54 -05:00
parent 760f29a88e
commit 56f4a43535
3 changed files with 13 additions and 13 deletions
--- a/Marlin/src/gcode/motion/G5.cpp
+++ b/Marlin/src/gcode/motion/G5.cpp
@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BEZIER_CURVE_SUPPORT)
+
+#include "../../module/motion.h"
+#include "../../module/planner_bezier.h"
+
+void plan_cubic_move(const float offset[4]) {
+  cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
+
+  // As far as the parser is concerned, the position is now == destination. In reality the
+  // motion control system might still be processing the action and the real tool position
+  // in any intermediate location.
+  set_current_to_destination();
+}
+
+/**
+ * Parameters interpreted according to:
+ * http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline
+ * However I, J omission is not supported at this point; all
+ * parameters can be omitted and default to zero.
+ */
+
+#include "../gcode.h"
+#include "../../Marlin.h" // for IsRunning()
+
+/**
+ * G5: Cubic B-spline
+ */
+void GcodeSuite::G5() {
+  if (IsRunning()) {
+
+    #if ENABLED(CNC_WORKSPACE_PLANES)
+      if (workspace_plane != PLANE_XY) {
+        SERIAL_ERROR_START();
+        SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
+        return;
+      }
+    #endif
+
+    get_destination_from_command();
+
+    const float offset[] = {
+      parser.linearval('I'),
+      parser.linearval('J'),
+      parser.linearval('P'),
+      parser.linearval('Q')
+    };
+
+    plan_cubic_move(offset);
+  }
+}
+
+#endif // BEZIER_CURVE_SUPPORT