*/
using namespace std;
-#include <vector>
#include "mri.h"
#include "nuts_bolts.h"
#include "ConfigValue.h"
#include <math.h>
+#include <algorithm>
-#define acceleration_checksum CHECKSUM("acceleration")
-#define z_acceleration_checksum CHECKSUM("z_acceleration")
#define junction_deviation_checksum CHECKSUM("junction_deviation")
#define z_junction_deviation_checksum CHECKSUM("z_junction_deviation")
#define minimum_planner_speed_checksum CHECKSUM("minimum_planner_speed")
Planner::Planner()
{
- clear_vector_float(this->previous_unit_vec);
+ memset(this->previous_unit_vec, 0, sizeof this->previous_unit_vec);
config_load();
}
// Configure acceleration
void Planner::config_load()
{
- this->acceleration = THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2
- this->z_acceleration = THEKERNEL->config->value(z_acceleration_checksum)->by_default(0.0F )->as_number(); // disabled by default
-
this->junction_deviation = THEKERNEL->config->value(junction_deviation_checksum)->by_default(0.05F)->as_number();
- this->z_junction_deviation = THEKERNEL->config->value(z_junction_deviation_checksum)->by_default(-1)->as_number(); // disabled by default
+ this->z_junction_deviation = THEKERNEL->config->value(z_junction_deviation_checksum)->by_default(NAN)->as_number(); // disabled by default
this->minimum_planner_speed = THEKERNEL->config->value(minimum_planner_speed_checksum)->by_default(0.0f)->as_number();
}
// Append a block to the queue, compute it's speed factors
-void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, float distance, float unit_vec[] )
+bool Planner::append_block( ActuatorCoordinates &actuator_pos, uint8_t n_motors, float rate_mm_s, float distance, float *unit_vec, float acceleration, float s_value, bool g123)
{
- float acceleration, junction_deviation;
-
// Create ( recycle ) a new block
- Block* block = THEKERNEL->conveyor->queue.head_ref();
-
+ Block* block = THECONVEYOR->queue.head_ref();
// Direction bits
- for (size_t i = 0; i < THEKERNEL->robot->actuators.size(); i++) {
- int steps = THEKERNEL->robot->actuators[i]->steps_to_target(actuator_pos[i]);
-
- block->direction_bits[i] = (steps < 0) ? 1 : 0;
-
+ bool has_steps = false;
+ for (size_t i = 0; i < n_motors; i++) {
+ int32_t steps = THEROBOT->actuators[i]->steps_to_target(actuator_pos[i]);
// Update current position
- THEKERNEL->robot->actuators[i]->last_milestone_steps += steps;
- THEKERNEL->robot->actuators[i]->last_milestone_mm = actuator_pos[i];
+ if(steps != 0) {
+ THEROBOT->actuators[i]->update_last_milestones(actuator_pos[i], steps);
+ has_steps = true;
+ }
+ // find direction
+ block->direction_bits[i] = (steps < 0) ? 1 : 0;
+ // save actual steps in block
block->steps[i] = labs(steps);
}
- acceleration = this->acceleration;
- junction_deviation = this->junction_deviation;
+ // sometimes even though there is a detectable movement it turns out there are no steps to be had from such a small move
+ if(!has_steps) {
+ block->clear();
+ return false;
+ }
+
+ // info needed by laser
+ block->s_value = roundf(s_value*(1<<11)); // 1.11 fixed point
+ block->is_g123 = g123;
- // use either regular acceleration or a z only move accleration
+ // use default JD
+ float junction_deviation = this->junction_deviation;
+
+ // use either regular junction deviation or z specific and see if a primary axis move
+ block->primary_axis = true;
if(block->steps[ALPHA_STEPPER] == 0 && block->steps[BETA_STEPPER] == 0) {
- // z only move
- if(this->z_acceleration > 0.0F) acceleration = this->z_acceleration;
- if(this->z_junction_deviation >= 0.0F) junction_deviation = this->z_junction_deviation;
+ if(block->steps[GAMMA_STEPPER] != 0) {
+ // z only move
+ if(!isnan(this->z_junction_deviation)) junction_deviation = this->z_junction_deviation;
+
+ } else {
+ // is not a primary axis move
+ block->primary_axis= false;
+ #if N_PRIMARY_AXIS > 3
+ for (int i = 3; i < N_PRIMARY_AXIS; ++i) {
+ if(block->steps[i] != 0){
+ block->primary_axis= true;
+ break;
+ }
+ }
+ #endif
+
+ }
}
block->acceleration = acceleration; // save in block
// Max number of steps, for all axes
- uint32_t steps_event_count = 0;
- for (size_t s = 0; s < THEKERNEL->robot->actuators.size(); s++) {
- steps_event_count = std::max(steps_event_count, block->steps[s]);
- }
- block->steps_event_count = steps_event_count;
+ auto mi = std::max_element(block->steps.begin(), block->steps.end());
+ block->steps_event_count = *mi;
block->millimeters = distance;
// Calculate speed in mm/sec for each axis. No divide by zero due to previous checks.
- // NOTE: Minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c
if( distance > 0.0F ) {
block->nominal_speed = rate_mm_s; // (mm/s) Always > 0
block->nominal_rate = block->steps_event_count * rate_mm_s / distance; // (step/s) Always > 0
// and this allows one to stop with little to no decleration in many cases. This is particualrly bad on leadscrew based systems that will skip steps.
float vmax_junction = minimum_planner_speed; // Set default max junction speed
- if (!THEKERNEL->conveyor->is_queue_empty()) {
- float previous_nominal_speed = THEKERNEL->conveyor->queue.item_ref(THEKERNEL->conveyor->queue.prev(THEKERNEL->conveyor->queue.head_i))->nominal_speed;
+ // if unit_vec was null then it was not a primary axis move so we skip the junction deviation stuff
+ if (unit_vec != nullptr && !THECONVEYOR->is_queue_empty()) {
+ Block *prev_block = THECONVEYOR->queue.item_ref(THECONVEYOR->queue.prev(THECONVEYOR->queue.head_i));
+ float previous_nominal_speed = prev_block->primary_axis ? prev_block->nominal_speed : 0;
- if (previous_nominal_speed > 0.0F && junction_deviation > 0.0F) {
+ if (junction_deviation > 0.0F && previous_nominal_speed > 0.0F) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
float cos_theta = - this->previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- this->previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- - this->previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+ - this->previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS];
+ #if N_PRIMARY_AXIS > 3
+ for (int i = 3; i < N_PRIMARY_AXIS; ++i) {
+ cos_theta -= this->previous_unit_vec[i] * unit_vec[i];
+ }
+ #endif
// Skip and use default max junction speed for 0 degree acute junction.
- if (cos_theta < 0.95F) {
- vmax_junction = min(previous_nominal_speed, block->nominal_speed);
+ if (cos_theta <= 0.9999F) {
+ vmax_junction = std::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 > -0.95F) {
+ if (cos_theta >= -0.9999F) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
float sin_theta_d2 = sqrtf(0.5F * (1.0F - cos_theta)); // Trig half angle identity. Always positive.
- vmax_junction = min(vmax_junction, sqrtf(acceleration * junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));
+ vmax_junction = std::min(vmax_junction, sqrtf(acceleration * junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));
}
}
}
// Initialize block entry speed. Compute based on deceleration to user-defined minimum_planner_speed.
float v_allowable = max_allowable_speed(-acceleration, minimum_planner_speed, block->millimeters);
- block->entry_speed = min(vmax_junction, v_allowable);
+ block->entry_speed = std::min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
block->recalculate_flag = true;
// Update previous path unit_vector and nominal speed
- memcpy(this->previous_unit_vec, unit_vec, sizeof(previous_unit_vec)); // previous_unit_vec[] = unit_vec[]
+ if(unit_vec != nullptr) {
+ memcpy(previous_unit_vec, unit_vec, sizeof(previous_unit_vec)); // previous_unit_vec[] = unit_vec[]
+ } else {
+ memset(previous_unit_vec, 0, sizeof(previous_unit_vec));
+ }
// Math-heavy re-computing of the whole queue to take the new
this->recalculate();
// The block can now be used
block->ready();
- THEKERNEL->conveyor->queue_head_block();
+ THECONVEYOR->queue_head_block();
+
+ return true;
}
void Planner::recalculate()
{
- Conveyor::Queue_t &queue = THEKERNEL->conveyor->queue;
+ Conveyor::Queue_t &queue = THECONVEYOR->queue;
unsigned int block_index;
HCoop / clinton / Smoothieware.git / blobdiff