Add the C axis to polar kinematics

[konikminavto]

Hi everyone, and especially terjeio!
I recently came across this wonderful project and polar kinematics. In my hardware configuration, the spindle can be rotated (manually) parallel to the X-axis. My idea is to mill sculptural objects or propeller-type objects, but Mastercam requires a rotary axis for this. Can you help me complete the polar kinematics, adding an addition for the C-axis? For example, Mastercam generates code with the same xyz coordinates for each blade, but when changing blades, it adds a rotation of C60.0 to the first command, C120.0 to the second, and so on. Or, when generating a trajectory for a figurine, the output will be x z c.

[terjeio]

I have fixed an issue with the polar kinematics, can you try it now? I do not have a machine to test with.

[konikminavto]

Thank you very much for your prompt assistance, I can only check on Monday

[konikminavto]

I tried the changes and don't quite understand how the A-axis should start working instead of the Y-axis. In the config, I changed n_axis to 4. Should I register the same ports as for the Y-axis in the M3 settings in the board configuration?