X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/0e99f8808a25e74c685b64be9947e973117ec761..49de901734414b04c54cd1890f3a6bd2a03e4d49:/src/modules/robot/Planner.cpp diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp index ad30a899..82f58b92 100644 --- a/src/modules/robot/Planner.cpp +++ b/src/modules/robot/Planner.cpp @@ -6,7 +6,6 @@ */ using namespace std; -#include #include "mri.h" #include "nuts_bolts.h" @@ -24,9 +23,8 @@ using namespace std; #include "ConfigValue.h" #include +#include -#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") @@ -37,67 +35,85 @@ using namespace std; 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 @@ -125,24 +141,31 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, // 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))); } } } @@ -151,7 +174,7 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, // 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. @@ -168,7 +191,11 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, 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(); @@ -176,12 +203,14 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, // 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;