From 96b1b93d28f131c121ccab695fef8233bec3c048 Mon Sep 17 00:00:00 2001
From: Paciente8159 <Paciente8159@users.noreply.github.com>
Date: Wed, 14 Feb 2024 10:47:02 +0000
Subject: [PATCH 1/2] Added option for rotational axis

- added option for rotational axis work always in relative distances
---
 uCNC/cnc_config.h      |  2 +-
 uCNC/cnc_hal_config.h  | 11 +++++++++++
 uCNC/src/core/parser.c | 12 ++++++++++++
 3 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/uCNC/cnc_config.h b/uCNC/cnc_config.h
index 89cb9ef9a..79bb47f44 100644
--- a/uCNC/cnc_config.h
+++ b/uCNC/cnc_config.h
@@ -67,7 +67,7 @@ extern "C"
 	 * */
 
 #ifndef AXIS_COUNT
-#define AXIS_COUNT 3
+#define AXIS_COUNT 4
 #endif
 
 #ifndef KINEMATIC
diff --git a/uCNC/cnc_hal_config.h b/uCNC/cnc_hal_config.h
index e67c9d3d3..0b8ac505d 100644
--- a/uCNC/cnc_hal_config.h
+++ b/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
diff --git a/uCNC/src/core/parser.c b/uCNC/src/core/parser.c
index 8383bcecd..39ff4b877 100644
--- a/uCNC/src/core/parser.c
+++ b/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
 

From c76b01e86f855aeb5cda8e92c40e7380e7e567fa Mon Sep 17 00:00:00 2001
From: Paciente8159 <Paciente8159@users.noreply.github.com>
Date: Wed, 14 Feb 2024 10:48:26 +0000
Subject: [PATCH 2/2] Update cnc_config.h

---
 uCNC/cnc_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uCNC/cnc_config.h b/uCNC/cnc_config.h
index 79bb47f44..89cb9ef9a 100644
--- a/uCNC/cnc_config.h
+++ b/uCNC/cnc_config.h
@@ -67,7 +67,7 @@ extern "C"
 	 * */
 
 #ifndef AXIS_COUNT
-#define AXIS_COUNT 4
+#define AXIS_COUNT 3
 #endif
 
 #ifndef KINEMATIC