ManuelW/grbl-LPC-CoreXY
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a new (slightly inelegant) stab at eliminating the slow tail problem

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Simen Svale Skogsrud
2011-02-16 22:58:53 +01:00
parent c02a6e2366
commit 1ed2195e11
4 changed files with 89 additions and 5 deletions
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7
planner.c
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@ -123,12 +123,12 @@ inline double intersection_distance(double initial_rate, double final_rate, doub
void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_factor);
int32_t final_rate = ceil(block->nominal_rate*exit_factor);
block->final_rate = ceil(block->nominal_rate*exit_factor);
int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0;
int32_t accelerate_steps =
ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute));
int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration_per_minute));
floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
@ -138,7 +138,7 @@ void calculate_trapezoid_for_block(block_t *block, double entry_factor, double e
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(
intersection_distance(block->initial_rate, final_rate, acceleration_per_minute, block->step_event_count));
intersection_distance(block->initial_rate, block->final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = 0;
}
@ -394,6 +394,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
calculate_trapezoid_for_block(block, safe_speed_factor, safe_speed_factor);
} else {
block->initial_rate = block->nominal_rate;
block->final_rate = block->nominal_rate;
block->accelerate_until = 0;
block->decelerate_after = block->step_event_count;
block->rate_delta = 0;