#include "Config.h"
#include "checksumm.h"
#include "Robot.h"
-#include "Stepper.h"
#include "ConfigValue.h"
#include <math.h>
-#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[] )
+void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, float distance, float *unit_vec, float acceleration)
{
- float acceleration, junction_deviation;
+ float junction_deviation;
// Create ( recycle ) a new block
Block* block = THEKERNEL->conveyor->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]);
+ for (size_t i = 0; i < THEROBOT->n_motors; i++) {
+ int steps = THEROBOT->actuators[i]->steps_to_target(actuator_pos[i]);
block->direction_bits[i] = (steps < 0) ? 1 : 0;
// Update current position
- THEKERNEL->robot->actuators[i]->last_milestone_steps += steps;
- THEKERNEL->robot->actuators[i]->last_milestone_mm = actuator_pos[i];
+ THEROBOT->actuators[i]->last_milestone_steps += steps;
+ THEROBOT->actuators[i]->last_milestone_mm = actuator_pos[i];
block->steps[i] = labs(steps);
}
- acceleration = this->acceleration;
junction_deviation = this->junction_deviation;
- // use either regular acceleration or a z only move accleration
+ // use either regular junction deviation or z specific
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(!isnan(this->z_junction_deviation)) junction_deviation = this->z_junction_deviation;
}
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++) {
+ for (size_t s = 0; s < THEROBOT->n_motors; s++) {
steps_event_count = std::max(steps_event_count, block->steps[s]);
}
block->steps_event_count = steps_event_count;
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 = ceilf(block->steps_event_count * rate_mm_s / distance); // (step/s) Always > 0
+ block->nominal_rate = block->steps_event_count * rate_mm_s / distance; // (step/s) Always > 0
} else {
block->nominal_speed = 0.0F;
block->nominal_rate = 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()) {
+ // if unit_vec was null then it was not a primary axis move so we skip the junction deviation stuff
+ if (unit_vec != nullptr && !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 (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]
// 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);
+ 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) {
// 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(this->previous_unit_vec, unit_vec, sizeof(previous_unit_vec)); // previous_unit_vec[] = unit_vec[]
+ }else{
+ memset(this->previous_unit_vec, 0, sizeof this->previous_unit_vec);
+ }
// Math-heavy re-computing of the whole queue to take the new
this->recalculate();
* Step 2:
* now current points to either tail or first non-recalculate block
* and has not had its reverse_pass called
- * or its calc trap
+ * or its calculate_trapezoid
* entry_speed is set to the *exit* speed of current.
* each block from current to head has its entry speed set to its max entry speed- limited by decel or nominal_rate
*/
// acceleration within the allotted distance.
float Planner::max_allowable_speed(float acceleration, float target_velocity, float distance)
{
- return(
- sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance) //Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes
- );
+ // Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes
+ return(sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance));
}
HCoop / clinton / Smoothieware.git / blobdiff