ManuelW/grbl-LPC-CoreXY
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Revert 517a0f659a06182c89cafe27ee371edccad777a4^..HEAD

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Sonny J 2011-08-15 19:15:43 -06:00
parent a2837943c0
commit 971e50aa9a
1 changed files with 38 additions and 39 deletions
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75
planner.c
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@ -80,6 +80,42 @@ static double intersection_distance(double initial_rate, double final_rate, doub
); );
} }
/*
+--------+ <- nominal_rate
/ \
nominal_rate*entry_factor -> + \
| + <- nominal_rate*exit_factor
+-------------+
time -->
*/
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// The factors represent a factor of braking and must be in the range 0.0-1.0.
static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_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, 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;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// 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, block->final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = 0;
}
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance. // acceleration within the allotted distance.
@ -110,7 +146,6 @@ static double factor_for_safe_speed(block_t *block) {
} }
} }
// The kernel called by planner_recalculate() when scanning the plan from last to first entry. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { return; } if(!current) { return; }
@ -200,42 +235,6 @@ static void planner_forward_pass() {
planner_forward_pass_kernel(block[1], block[2], NULL); planner_forward_pass_kernel(block[1], block[2], NULL);
} }
/*
+--------+ <- nominal_rate
/ \
nominal_rate*entry_factor -> + \
| + <- nominal_rate*exit_factor
+-------------+
time -->
*/
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// The factors represent a factor of braking and must be in the range 0.0-1.0.
static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_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, 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;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// 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, block->final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = 0;
}
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
}
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after // entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks. // updating the blocks.
@ -270,7 +269,7 @@ static void planner_recalculate_trapezoids() {
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will: // the set limit. Finally it will:
// //
// 3. Recalculate trapezoids for all blocks using the recently updated factors // 3. Recalculate trapezoids for all blocks.
static void planner_recalculate() { static void planner_recalculate() {
planner_reverse_pass(); planner_reverse_pass();