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gp2rml/gp2rml.c (output_paths): use PA when possible; correct speed calculation
The mill uses the Z speed for the entire !ZZ movement, whether there is a Z component or not. We now issue PA instead of !ZZ when moving horizontally. Also adapted the speed calculating accordingly.
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@ -133,7 +133,7 @@ static void output_paths(double z_clear, double xy_speed, double z_speed)
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const struct segment *seg;
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const struct segment *seg;
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double x = 0, y = 0, z = 0;
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double x = 0, y = 0, z = 0;
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double d, s = 0, t = 0;
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double d, s = 0, t = 0;
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double txy, tz;
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double speed;
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printf("IN;!MC1;PA\n");
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printf("IN;!MC1;PA\n");
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printf("!ZO%d;!PZ0,%d;PU\n", units(z_max), units(z_clear));
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printf("!ZO%d;!PZ0,%d;PU\n", units(z_max), units(z_clear));
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@ -156,13 +156,19 @@ static void output_paths(double z_clear, double xy_speed, double z_speed)
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z = seg->z;
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z = seg->z;
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seg = seg->next;
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seg = seg->next;
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while (seg) {
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while (seg) {
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printf("!ZZ%d,%d,%d\n", units(seg->x), units(seg->y),
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if (path->segments->z == z && z == seg->z) {
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printf("PA%d,%d\n",
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units(seg->x), units(seg->y));
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speed = xy_speed;
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} else {
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printf("!ZZ%d,%d,%d\n",
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units(seg->x), units(seg->y),
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units((seg->z - z_max) * z_scale));
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units((seg->z - z_max) * z_scale));
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speed = z_speed;
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}
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d = hypot(x - seg->x, y - seg->y);
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d = hypot(x - seg->x, y - seg->y);
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txy = d / xy_speed;
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tz = fabs(z - seg->z) / z_speed;
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t += txy > tz ? txy : tz;
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d = hypot(d, z - seg->z);
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d = hypot(d, z - seg->z);
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t += d / speed;
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s += d;
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s += d;
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x = seg->x;
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x = seg->x;
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y = seg->y;
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y = seg->y;
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