Merge pull request #624 from Paciente8159/axis-rotation-mode

Added option for rotational axis

uCNC/cnc_hal_config.h

@@ -107,6 +107,17 @@ extern "C"
  */
 // #define ENABLE_XY_SIMULTANEOUS_HOMING
 
+/**
+ * Rotational axis - force relative distances
+ * Enable this option if you want the rotation axis to work in relative distance mode only
+ * This will mean that no matter if the machine is working in absolute (G90) or relative (G91) coordinates
+ * the rotational axis will always calculate the motion in relative distance mode
+ * 
+*/
+// #define AXIS_A_FORCE_RELATIVE_MODE
+// #define AXIS_B_FORCE_RELATIVE_MODE
+// #define AXIS_C_FORCE_RELATIVE_MODE
+
 /**
  * Uncomment this feature to enable multi motor axis
  * NOTE: If Laser PPI is enabled one of the stepper drivers position will be used by the laser controller

uCNC/src/core/parser.c

@@ -1402,19 +1402,31 @@ uint8_t parser_exec_command(parser_state_t *new_state, parser_words_t *words, pa
 #ifdef AXIS_A
 	if (CHECKFLAG(cmd->words, GCODE_WORD_A))
 	{
+#ifndef AXIS_A_FORCE_RELATIVE_MODE
 		target[AXIS_A] = (abspos) ? words->xyzabc[AXIS_A] : (words->xyzabc[AXIS_A] + target[AXIS_A]);
+#else
+		target[AXIS_A] = (words->xyzabc[AXIS_A] + target[AXIS_A]);
+#endif
 	}
 #endif
 #ifdef AXIS_B
 	if (CHECKFLAG(cmd->words, GCODE_WORD_B))
 	{
+#ifndef AXIS_B_FORCE_RELATIVE_MODE
 		target[AXIS_B] = (abspos) ? words->xyzabc[AXIS_B] : (words->xyzabc[AXIS_B] + target[AXIS_B]);
+#else
+		target[AXIS_B] = (words->xyzabc[AXIS_B] + target[AXIS_B]);
+#endif
 	}
 #endif
 #ifdef AXIS_C
 	if (CHECKFLAG(cmd->words, GCODE_WORD_C))
 	{
+#ifndef AXIS_C_FORCE_RELATIVE_MODE
 		target[AXIS_C] = (abspos) ? words->xyzabc[AXIS_C] : (words->xyzabc[AXIS_C] + target[AXIS_C]);
+#else
+		target[AXIS_C] = (words->xyzabc[AXIS_C] + target[AXIS_C]);
+#endif
 	}
 #endif