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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "../../module/motion.h"
#include "../../module/planner_bezier.h"
/**
* Parameters interpreted according to:
* https://linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g5
* However I, J omission is not supported at this point; all
* parameters can be omitted and default to zero.
*/
#include "../gcode.h"
#include "../../MarlinCore.h" // for IsRunning()
/**
* G5: Cubic B-spline
*/
void GcodeSuite::G5() {
if (MOTION_CONDITIONS) {
#if ENABLED(CNC_WORKSPACE_PLANES)
if (workspace_plane != PLANE_XY) {
SERIAL_ERROR_MSG(STR_ERR_BAD_PLANE_MODE);
return;
}
#endif
get_destination_from_command();
const xy_pos_t offsets[2] = {
{ parser.linearval('I'), parser.linearval('J') },
{ parser.linearval('P'), parser.linearval('Q') }
};
cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
current_position = destination;
}
}
#endif // BEZIER_CURVE_SUPPORT
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