More minor bug fixes in planner.
Reverse planner was over-writing the initial/buffer tail entry speed, which reset the forward planner and caused it to lose track of its speed. Should now accelerate into short linear segments much nicer now.
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planner.c
38
planner.c
@ -100,19 +100,21 @@ static double max_allowable_speed(double acceleration, double target_velocity, d
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static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if (!current) { return; }
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double entry_speed = current->max_entry_speed;
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double exit_speed;
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if (next) {
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exit_speed = next->entry_speed;
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} else {
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exit_speed = 0.0;
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if (previous) { // Prevent reverse planner from over-writing buffer_tail entry speed.
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double entry_speed = current->max_entry_speed; // Re-write to ensure at max possible speed
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double exit_speed;
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if (next) {
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exit_speed = next->entry_speed;
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} else {
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exit_speed = 0.0; // Assume last block has zero exit velocity
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}
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// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
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if (entry_speed > exit_speed) {
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entry_speed =
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min(max_allowable_speed(-settings.acceleration,exit_speed,current->millimeters),entry_speed);
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}
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current->entry_speed = entry_speed;
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}
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// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
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if (entry_speed > exit_speed) {
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entry_speed =
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min(max_allowable_speed(-settings.acceleration,exit_speed,current->millimeters),entry_speed);
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}
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current->entry_speed = entry_speed;
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}
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@ -354,19 +356,17 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
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-previous->delta_mm[Z_AXIS] * block->delta_mm[Z_AXIS] )/
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( previous->millimeters * block->millimeters );
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// Avoid divide by zero for straight junctions around 180 degress
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// Avoid divide by zero for straight junctions near 180 degrees. Limit to min nominal speeds.
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vmax_junction = min(previous->nominal_speed,block->nominal_speed);
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if (cos_theta > -0.95) {
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// Compute maximum junction velocity based on maximum acceleration and junction deviation
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double sin_theta_d2 = sqrt((1-cos_theta)/2); // Trig half angle identity
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vmax_junction =
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sqrt(settings.acceleration*60*60 * settings.junction_deviation * sin_theta_d2/(1-sin_theta_d2));
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vmax_junction = max(0.0,min(vmax_junction, min(previous->nominal_speed,block->nominal_speed)));
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} else {
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vmax_junction = min(previous->nominal_speed,block->nominal_speed);
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vmax_junction = max(0.0, min(vmax_junction,
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sqrt(settings.acceleration*60*60 * settings.junction_deviation * sin_theta_d2/(1-sin_theta_d2)) ) );
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}
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}
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block->max_entry_speed = vmax_junction;
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block->entry_speed = 0.0;
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block->entry_speed = vmax_junction;
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} else {
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block->initial_rate = block->nominal_rate;
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block->final_rate = block->nominal_rate;
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