2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
3 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
4 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
10 #include "libs/nuts_bolts.h"
19 #include "../communication/utils/Gcode.h"
22 clear_vector(this->steps
);
23 this->times_taken
= 0; // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
26 void Block::debug(Kernel
* kernel
){
27 kernel
->serial
->printf(" steps:%4d|%4d|%4d(max:%4d) nominal:r%10d/s%6.1f mm:%9.6f rdelta:%8d acc:%5d dec:%5d rates:%10d>%10d \r\n", this->steps
[0], this->steps
[1], this->steps
[2], this->steps_event_count
, this->nominal_rate
, this->nominal_speed
, this->millimeters
, this->rate_delta
, this->accelerate_until
, this->decelerate_after
, this->initial_rate
, this->final_rate
);
31 // Calculate a braking factor to reach baseline speed which is max_jerk/2, e.g. the
32 // speed under which you cannot exceed max_jerk no matter what you do.
33 double Block::compute_factor_for_safe_speed(){
34 return( this->planner
->max_jerk
/ this->nominal_speed
);
38 // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
39 // The factors represent a factor of braking and must be in the range 0.0-1.0.
40 // +--------+ <- nominal_rate
42 // nominal_rate*entry_factor -> + \
43 // | + <- nominal_rate*exit_factor
46 void Block::calculate_trapezoid( double entryfactor
, double exitfactor
){
48 this->initial_rate
= ceil(this->nominal_rate
* entryfactor
); // (step/min)
49 this->final_rate
= ceil(this->nominal_rate
* exitfactor
); // (step/min)
50 double acceleration_per_minute
= this->rate_delta
* this->planner
->kernel
->stepper
->acceleration_ticks_per_second
* 60.0;
51 int accelerate_steps
= ceil( this->estimate_acceleration_distance( this->initial_rate
, this->nominal_rate
, acceleration_per_minute
) );
52 int decelerate_steps
= ceil( this->estimate_acceleration_distance( this->nominal_rate
, this->final_rate
, -acceleration_per_minute
) );
54 // Calculate the size of Plateau of Nominal Rate.
55 int plateau_steps
= this->steps_event_count
-accelerate_steps
-decelerate_steps
;
57 // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
58 // have to use intersection_distance() to calculate when to abort acceleration and start braking
59 // in order to reach the final_rate exactly at the end of this block.
60 if (plateau_steps
< 0) {
61 accelerate_steps
= ceil(this->intersection_distance(this->initial_rate
, this->final_rate
, acceleration_per_minute
, this->steps_event_count
));
62 accelerate_steps
= max( accelerate_steps
, 0 ); // Check limits due to numerical round-off
63 accelerate_steps
= min( accelerate_steps
, int(this->steps_event_count
) );
67 this->accelerate_until
= accelerate_steps
;
68 this->decelerate_after
= accelerate_steps
+plateau_steps
;
72 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
73 // given acceleration:
74 double Block::estimate_acceleration_distance(double initialrate
, double targetrate
, double acceleration
) {
75 return( (targetrate
*targetrate
-initialrate
*initialrate
)/(2L*acceleration
));
78 // This function gives you the point at which you must start braking (at the rate of -acceleration) if
79 // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
80 // a total travel of distance. This can be used to compute the intersection point between acceleration and
81 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
83 /* + <- some maximum rate we don't care about
88 initial_rate -> +----+--+
91 intersection_distance distance */
92 double Block::intersection_distance(double initialrate
, double finalrate
, double acceleration
, double distance
) {
93 return((2*acceleration
*distance
-initialrate
*initialrate
+finalrate
*finalrate
)/(4*acceleration
));
96 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
97 // acceleration within the allotted distance.
98 inline double max_allowable_speed(double acceleration
, double target_velocity
, double distance
) {
100 sqrt(target_velocity
*target_velocity
-2L*acceleration
*60*60*distance
) //Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes
105 // Called by Planner::recalculate() when scanning the plan from last to first entry.
106 void Block::reverse_pass(Block
* next
, Block
* previous
){
109 // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
110 // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
111 // check for maximum allowable speed reductions to ensure maximum possible planned speed.
112 if (this->entry_speed
!= this->max_entry_speed
) {
114 // If nominal length true, max junction speed is guaranteed to be reached. Only compute
115 // for max allowable speed if block is decelerating and nominal length is false.
116 if ((!this->nominal_length_flag
) && (this->max_entry_speed
> next
->entry_speed
)) {
117 this->entry_speed
= min( this->max_entry_speed
, max_allowable_speed(-this->planner
->acceleration
,next
->entry_speed
,this->millimeters
));
119 this->entry_speed
= this->max_entry_speed
;
121 this->recalculate_flag
= true;
124 } // Skip last block. Already initialized and set for recalculation.
129 // Called by Planner::recalculate() when scanning the plan from first to last entry.
130 void Block::forward_pass(Block
* previous
, Block
* next
){
132 if(!previous
) { return; } // Begin planning after buffer_tail
134 // If the previous block is an acceleration block, but it is not long enough to complete the
135 // full speed change within the block, we need to adjust the entry speed accordingly. Entry
136 // speeds have already been reset, maximized, and reverse planned by reverse planner.
137 // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
138 if (!previous
->nominal_length_flag
) {
139 if (previous
->entry_speed
< this->entry_speed
) {
140 double entry_speed
= min( this->entry_speed
,
141 max_allowable_speed(-this->planner
->acceleration
,previous
->entry_speed
,previous
->millimeters
) );
143 // Check for junction speed change
144 if (this->entry_speed
!= entry_speed
) {
145 this->entry_speed
= entry_speed
;
146 this->recalculate_flag
= true;
154 // Gcodes are attached to their respective blocks so that on_gcode_execute can be called with it
155 void Block::append_gcode(Gcode
* gcode
){
156 this->commands
.push_back(gcode
->command
);
157 this->travel_distances
.push_back(gcode
->millimeters_of_travel
);
160 // The attached gcodes are then poped and the on_gcode_execute event is called with them as a parameter
161 void Block::pop_and_execute_gcode(Kernel
* &kernel
){
162 for(unsigned short index
=0; index
<this->commands
.size(); index
++){
163 string command
= this->commands
.at(index
);
164 double distance
= this->travel_distances
.at(index
);
165 Gcode gcode
= Gcode();
166 gcode
.command
= command
;
167 gcode
.millimeters_of_travel
= distance
;
168 kernel
->call_event(ON_GCODE_EXECUTE
, &gcode
);
172 // Signal the player that this block is ready to be injected into the system
174 this->player
->new_block_added();
177 // Mark the block as taken by one more module
182 // Mark the block as no longer taken by one module, go to next block if this free's it
183 void Block::release(){
185 if( this->times_taken
< 1 ){
186 this->player
->kernel
->call_event(ON_BLOCK_END
, this);
187 this->pop_and_execute_gcode(this->player
->kernel
);
188 Player
* player
= this->player
;
189 player
->queue
.delete_first();
190 player
->pop_and_process_new_block();