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I am getting started with GCode, and I don't know all the commands. Is there a way to smooth a path between two points? I wrote a program which makes GCode from a silhouette. Problem is, when it looks at the individual pixels, its path becomes a bit choppy. Is there a command that will make a more natural path. Attached is a close up picture of the path simulation.

enter image description here

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Curves are normally approximated with straight-line segments. However, some firmwares (e.g. Marlin) support arc commands. See:

Marlin: Controlled Arc Move
RepRap: Controlled Arc Move

Note that the RepRap Wiki is not always accurate in its list of supported commands.

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