4d03c4febc
- Update grbl version and settings version to automatically reset eeprom. FYI, this will reset your grbl settings. - Saved 3*BLOCK_BUFFER_SIZE doubles in static memory by removing obsolete variables: speed_x, speed_y, and speed_z. - Increased buffer size conservatively to 18 from 16. (Probably can do 20). - Removed expensive! modulo operator from block indexing function. Reduces significant computational overhead. - Re-organized some sqrt() calls to be more efficient during time critical planning cases, rather than non-time critical. - Minor bug fix in planner max junction velocity logic. - Simplified arc logic and removed need to multiply for CW or CCW direction.
475 lines
23 KiB
C
475 lines
23 KiB
C
/*
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planner.c - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
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#include <inttypes.h>
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#include <math.h>
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#include <stdlib.h>
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#include "planner.h"
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#include "nuts_bolts.h"
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#include "stepper.h"
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#include "settings.h"
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#include "config.h"
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// The number of linear motions that can be in the plan at any give time
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#ifdef __AVR_ATmega328P__
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#define BLOCK_BUFFER_SIZE 18
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#else
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#define BLOCK_BUFFER_SIZE 5
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#endif
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static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
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static volatile uint8_t block_buffer_tail; // Index of the block to process now
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static int32_t position[3]; // The current position of the tool in absolute steps
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static double previous_unit_vec[3]; // Unit vector of previous path line segment
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static double previous_nominal_speed; // Nominal speed of previous path line segment
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static uint8_t acceleration_manager_enabled; // Acceleration management active?
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#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
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// Returns the index of the next block in the ring buffer
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// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
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static int8_t next_block_index(int8_t block_index) {
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block_index++;
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if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
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return(block_index);
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}
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// Returns the index of the previous block in the ring buffer
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static int8_t prev_block_index(int8_t block_index) {
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if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE-1; }
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else { block_index--; }
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return(block_index);
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}
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) {
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return( (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration) );
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}
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/* + <- some maximum rate we don't care about
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/|\
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/ | \
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/ | + <- final_rate
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/ | |
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initial_rate -> +----+--+
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^ ^
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intersection_distance distance */
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) {
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return( (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration) );
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}
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity
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// using the acceleration within the allotted distance.
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// NOTE: sqrt() reimplimented here from prior version due to improved planner logic. Increases speed
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// in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed
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// BLOCK_BUFFER_SIZE calls per planner cycle.
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static double max_allowable_speed(double acceleration, double target_velocity, double distance) {
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return( sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) );
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}
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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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; } // Cannot operate on nothing.
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if (next) {
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
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// check for maximum allowable speed reductions to ensure maximum possible planned speed.
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if (current->entry_speed != current->max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
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current->entry_speed = min( current->max_entry_speed,
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max_allowable_speed(-settings.acceleration,next->entry_speed,current->millimeters));
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} else {
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current->entry_speed = current->max_entry_speed;
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}
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current->recalculate_flag = true;
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}
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} // Skip last block. Already initialized and set for recalculation.
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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static void planner_reverse_pass() {
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auto int8_t block_index = block_buffer_head;
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block_t *block[3] = {NULL, NULL, NULL};
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while(block_index != block_buffer_tail) {
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block_index = prev_block_index( block_index );
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block[2]= block[1];
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block[1]= block[0];
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block[0] = &block_buffer[block_index];
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planner_reverse_pass_kernel(block[0], block[1], block[2]);
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}
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// Skip buffer tail/first block to prevent over-writing the initial entry speed.
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}
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!previous) { return; } // Begin planning after buffer_tail
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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if (!previous->nominal_length_flag) {
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if (previous->entry_speed < current->entry_speed) {
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double entry_speed = min( current->entry_speed,
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max_allowable_speed(-settings.acceleration,previous->entry_speed,previous->millimeters) );
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// Check for junction speed change
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if (current->entry_speed != entry_speed) {
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current->entry_speed = entry_speed;
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current->recalculate_flag = true;
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}
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}
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}
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the forward pass.
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static void planner_forward_pass() {
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int8_t block_index = block_buffer_tail;
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block_t *block[3] = {NULL, NULL, NULL};
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while(block_index != block_buffer_head) {
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block[0] = block[1];
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block[1] = block[2];
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block[2] = &block_buffer[block_index];
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planner_forward_pass_kernel(block[0],block[1],block[2]);
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block_index = next_block_index( block_index );
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}
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planner_forward_pass_kernel(block[1], block[2], NULL);
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}
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/* STEPPER RATE DEFINITION
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+--------+ <- nominal_rate
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/ \
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nominal_rate*entry_factor -> + \
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| + <- nominal_rate*exit_factor
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+-------------+
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time -->
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*/
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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// The factors represent a factor of braking and must be in the range 0.0-1.0.
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// This converts the planner parameters to the data required by the stepper controller.
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static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
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block->initial_rate = ceil(block->nominal_rate*entry_factor);
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block->final_rate = ceil(block->nominal_rate*exit_factor);
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int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0;
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int32_t accelerate_steps =
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ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute));
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int32_t decelerate_steps =
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floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute));
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// Calculate the size of Plateau of Nominal Rate.
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int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// have to use intersection_distance() to calculate when to abort acceleration and start braking
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// in order to reach the final_rate exactly at the end of this block.
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if (plateau_steps < 0) {
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accelerate_steps = ceil(
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intersection_distance(block->initial_rate, block->final_rate, acceleration_per_minute, block->step_event_count));
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plateau_steps = 0;
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}
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps+plateau_steps;
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}
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/* PLANNER SPEED DEFINITION
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+--------+ <- current->nominal_speed
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/ \
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current->entry_speed -> + \
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| + <- next->entry_speed
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+-------------+
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time -->
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*/
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// Recalculates the trapezoid speed profiles for flagged blocks in the plan according to the
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// entry_speed for each junction and the entry_speed of the next junction. Must be called by
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// planner_recalculate() after updating the blocks. Any recalulate flagged junction will
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// compute the two adjacent trapezoids to the junction, since the junction speed corresponds
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// to exit speed and entry speed of one another.
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static void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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block_t *current;
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block_t *next = NULL;
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while(block_index != block_buffer_head) {
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current = next;
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next = &block_buffer[block_index];
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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if (current->recalculate_flag || next->recalculate_flag) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
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next->entry_speed/current->nominal_speed);
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current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
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}
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}
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block_index = next_block_index( block_index );
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}
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// Last/newest block in buffer. Exit speed is zero. Always recalculated.
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calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed, 0.0);
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next->recalculate_flag = false;
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}
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// Recalculates the motion plan according to the following algorithm:
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//
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_speed)
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// so that:
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// a. The junction speed is equal to or less than the maximum junction speed limit
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// acceleration.
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// 2. Go over every block in chronological order and dial down junction speed values if
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// a. The speed increase within one block would require faster acceleration than the one, true
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// constant acceleration.
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//
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// When these stages are complete all blocks have an entry speed that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction speed is greater
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// than the max limit. Finally it will:
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//
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// 3. Recalculate trapezoids for all blocks using the recently updated junction speeds. Block trapezoids
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// with no updated junction speeds will not be recalculated and assumed ok as is.
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static void planner_recalculate() {
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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}
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void plan_init() {
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block_buffer_head = 0;
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block_buffer_tail = 0;
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plan_set_acceleration_manager_enabled(true);
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clear_vector(position);
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clear_vector_double(previous_unit_vec);
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previous_nominal_speed = 0.0;
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}
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void plan_set_acceleration_manager_enabled(uint8_t enabled) {
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if ((!!acceleration_manager_enabled) != (!!enabled)) {
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st_synchronize();
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acceleration_manager_enabled = !!enabled;
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}
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}
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int plan_is_acceleration_manager_enabled() {
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return(acceleration_manager_enabled);
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}
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void plan_discard_current_block() {
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = next_block_index( block_buffer_tail );
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}
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}
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block_t *plan_get_current_block() {
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if (block_buffer_head == block_buffer_tail) { return(NULL); }
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return(&block_buffer[block_buffer_tail]);
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}
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate) {
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// Calculate target position in absolute steps
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int32_t target[3];
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target[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
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target[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
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target[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index( block_buffer_head );
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while(block_buffer_tail == next_buffer_head) { sleep_mode(); }
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// Prepare to set up new block
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block_t *block = &block_buffer[block_buffer_head];
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// Compute direction bits for this block
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block->direction_bits = 0;
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if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_DIRECTION_BIT); }
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if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_DIRECTION_BIT); }
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if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_DIRECTION_BIT); }
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// Number of steps for each axis
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block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
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block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
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block->step_event_count = max(block->steps_x, max(block->steps_y, block->steps_z));
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// Bail if this is a zero-length block
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if (block->step_event_count == 0) { return; };
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// Compute path vector in terms of absolute step target and current positions
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double delta_mm[3];
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delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/settings.steps_per_mm[X_AXIS];
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/settings.steps_per_mm[Y_AXIS];
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delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/settings.steps_per_mm[Z_AXIS];
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block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
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square(delta_mm[Z_AXIS]));
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uint32_t microseconds;
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if (!invert_feed_rate) {
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microseconds = lround((block->millimeters/feed_rate)*1000000);
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} else {
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microseconds = lround(ONE_MINUTE_OF_MICROSECONDS/feed_rate);
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}
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// Calculate speed in mm/minute for each axis
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double multiplier = 60.0*1000000.0/microseconds;
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block->nominal_speed = block->millimeters * multiplier;
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block->nominal_rate = ceil(block->step_event_count * multiplier);
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// This is a temporary fix to avoid a situation where very low nominal_speeds would be rounded
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// down to zero and cause a division by zero. TODO: Grbl deserves a less patchy fix for this problem
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if (block->nominal_speed < 60.0) { block->nominal_speed = 60.0; }
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// Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line
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// average travel per step event changes. For a line along one axis the travel per step event
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// is equal to the travel/step in the particular axis. For a 45 degree line the steppers of both
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// axes might step for every step event. Travel per step event is then sqrt(travel_x^2+travel_y^2).
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// To generate trapezoids with contant acceleration between blocks the rate_delta must be computed
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// specifically for each line to compensate for this phenomenon:
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double step_per_travel = block->step_event_count/block->millimeters; // Compute inverse to remove divide
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block->rate_delta = step_per_travel * ceil( // convert to: acceleration steps/min/acceleration_tick
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settings.acceleration*60.0 / ACCELERATION_TICKS_PER_SECOND ); // acceleration mm/sec/sec per acceleration_tick
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// Perform planner-enabled calculations
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if (acceleration_manager_enabled) {
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// Compute path unit vector
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double unit_vec[3];
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double inv_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
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unit_vec[X_AXIS] = delta_mm[X_AXIS]*inv_millimeters;
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unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inv_millimeters;
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unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inv_millimeters;
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// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
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// Let a circle be tangent to both previous and current path line segments, where the junction
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// deviation is defined as the distance from the junction to the closest edge of the circle,
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// colinear with the circle center. The circular segment joining the two paths represents the
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// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
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// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
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// path width or max_jerk in the previous grbl version. This approach does not actually deviate
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// from path, but used as a robust way to compute cornering speeds, as it takes into account the
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// nonlinearities of both the junction angle and junction velocity.
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double vmax_junction = 0.0; // Set default zero max junction speed
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// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
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if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
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// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
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// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
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double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
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- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
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- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
|
|
|
|
// Skip and use default max junction speed for 0 degree acute junction.
|
|
if (cos_theta < 0.95) {
|
|
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
|
|
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
|
if (cos_theta > -0.95) {
|
|
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
|
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
|
|
vmax_junction = min(vmax_junction,
|
|
sqrt(settings.acceleration*60*60 * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
|
|
}
|
|
}
|
|
}
|
|
block->max_entry_speed = vmax_junction;
|
|
|
|
// Initialize block entry speed. Compute based on deceleration to rest (zero speed).
|
|
double v_allowable = max_allowable_speed(-settings.acceleration,0.0,block->millimeters);
|
|
block->entry_speed = min(vmax_junction, v_allowable);
|
|
|
|
// Initialize planner efficiency flags
|
|
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
|
|
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
|
|
// the current block and next block junction speeds are guaranteed to always be at their maximum
|
|
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
|
|
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
|
|
// the reverse and forward planners, the corresponding block junction speed will always be at the
|
|
// the maximum junction speed and may always be ignored for any speed reduction checks.
|
|
if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
|
|
else { block->nominal_length_flag = false; }
|
|
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
|
|
|
// Update previous path unit_vector and nominal speed
|
|
memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[]
|
|
previous_nominal_speed = block->nominal_speed;
|
|
|
|
} else {
|
|
// Acceleration planner disabled. Set minimum that is required.
|
|
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;
|
|
}
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
// Update position
|
|
memcpy(position, target, sizeof(target)); // position[] = target[]
|
|
|
|
if (acceleration_manager_enabled) { planner_recalculate(); }
|
|
st_wake_up();
|
|
}
|
|
|
|
// Reset the planner position vector and planner speed
|
|
void plan_set_current_position(double x, double y, double z) {
|
|
position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
|
|
position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
|
|
position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
|
|
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
|
|
clear_vector_double(previous_unit_vec);
|
|
}
|