#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 max_jerk_checksum CHECKSUM("max_jerk")
#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")
// The Planner does the acceleration math for the queue of Blocks ( movements ).
// It makes sure the speed stays within the configured constraints ( acceleration, junction_deviation, etc )
// It goes over the list in both direction, every time a block is added, re-doing the math to make sure everything is optimal
-Planner::Planner(){
- clear_vector_float(this->previous_unit_vec);
- this->has_deleted_block = false;
-}
-
-void Planner::on_module_loaded(){
- this->on_config_reload(this);
+Planner::Planner()
+{
+ memset(this->previous_unit_vec, 0, sizeof this->previous_unit_vec);
+ config_load();
}
// Configure acceleration
-void Planner::on_config_reload(void* argument){
- 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();
+void Planner::config_load()
+{
+ 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(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( float 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;
+ float junction_deviation;
// Create ( recycle ) a new block
Block* block = THEKERNEL->conveyor->queue.head_ref();
// Direction bits
- block->direction_bits = 0;
- for (int i = 0; i < 3; 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]);
- if (steps < 0)
- block->direction_bits |= (1<<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);
}
- // use either regular acceleration or a z only move accleration
- if(this->z_acceleration > 0.0F && block->steps[ALPHA_STEPPER] == 0 && block->steps[BETA_STEPPER] == 0) {
+ junction_deviation = this->junction_deviation;
+
+ // use either regular junction deviation or z specific
+ if(block->steps[ALPHA_STEPPER] == 0 && block->steps[BETA_STEPPER] == 0) {
// z only move
- acceleration= this->z_acceleration;
- } else{
- acceleration= this->acceleration;
+ 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
- block->steps_event_count = max( block->steps[ALPHA_STEPPER], max( block->steps[BETA_STEPPER], block->steps[GAMMA_STEPPER] ) );
+ uint32_t steps_event_count = 0;
+ 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 ){
+ if( distance > 0.0F ) {
block->nominal_speed = rate_mm_s; // (mm/s) Always > 0
- block->nominal_rate = ceil(block->steps_event_count * rate_mm_s / distance); // (step/s) Always > 0
- }else{
+ 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;
}
// average travel per step event changes. For a line along one axis the travel per step event
// is equal to the travel/step in the particular axis. For a 45 degree line the steppers of both
// axes might step for every step event. Travel per step event is then sqrt(travel_x^2+travel_y^2).
- // To generate trapezoids with contant acceleration between blocks the rate_delta must be computed
- // specifically for each line to compensate for this phenomenon:
- // Convert universal acceleration for direction-dependent stepper rate change parameter
- block->rate_delta = (block->steps_event_count * acceleration) / (distance * THEKERNEL->stepper->get_acceleration_ticks_per_second()); // (step/min/acceleration_tick)
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
+
+ // NOTE however it does not take into account independent axis, in most cartesian X and Y and Z are totally independent
+ // 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) {
+ 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[Y_AXIS] * unit_vec[Y_AXIS]
+ - this->previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95F) {
- 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 * this->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)));
}
}
}
block->max_entry_speed = vmax_junction;
// 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); //TODO: Get from config
- block->entry_speed = min(vmax_junction, v_allowable);
+ float v_allowable = max_allowable_speed(-acceleration, minimum_planner_speed, block->millimeters);
+ 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();
THEKERNEL->conveyor->queue_head_block();
}
-void Planner::recalculate() {
+void Planner::recalculate()
+{
Conveyor::Queue_t &queue = THEKERNEL->conveyor->queue;
unsigned int block_index;
block_index = queue.head_i;
current = queue.item_ref(block_index);
- if (!queue.is_empty())
- {
- while ((block_index != queue.tail_i) && current->recalculate_flag)
- {
+ if (!queue.is_empty()) {
+ while ((block_index != queue.tail_i) && current->recalculate_flag) {
entry_speed = current->reverse_pass(entry_speed);
block_index = queue.prev(block_index);
* 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
*/
float exit_speed = current->max_exit_speed();
- while (block_index != queue.head_i)
- {
+ while (block_index != queue.head_i) {
previous = current;
block_index = queue.next(block_index);
current = queue.item_ref(block_index);
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// 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
- );
+float Planner::max_allowable_speed(float acceleration, float target_velocity, float distance)
+{
+ // 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