X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/3a425ecbd1cc088f2b0581a2d3c631b3c028ab5d..49de901734414b04c54cd1890f3a6bd2a03e4d49:/src/modules/robot/Planner.cpp diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp index f4b25aa6..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" @@ -17,67 +16,108 @@ using namespace std; #include "Block.h" #include "Planner.h" #include "Conveyor.h" +#include "StepperMotor.h" +#include "Config.h" +#include "checksumm.h" +#include "Robot.h" +#include "ConfigValue.h" + +#include +#include -#define acceleration_checksum CHECKSUM("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(){ - register_for_event(ON_CONFIG_RELOAD); - 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, see https://github.com/grbl/grbl/commit/9141ad282540eaa50a41283685f901f29c24ddbd#planner.c - this->junction_deviation = THEKERNEL->config->value(junction_deviation_checksum )->by_default( 0.05F)->as_number(); - this->minimum_planner_speed = THEKERNEL->config->value(minimum_planner_speed_checksum )->by_default(0.0f)->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[] ) +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) { // Create ( recycle ) a new block - Block* block = THEKERNEL->conveyor->queue.head_ref(); + Block* block = THECONVEYOR->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]); - - if (steps < 0) - block->direction_bits |= (1<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); } + // 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 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) { + 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 - block->steps_event_count = max( block->steps[ALPHA_STEPPER], max( block->steps[BETA_STEPPER], block->steps[GAMMA_STEPPER] ) ); + auto mi = std::max_element(block->steps.begin(), block->steps.end()); + block->steps_event_count = *mi; block->millimeters = distance; - // Calculate speed in mm/minute 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 ){ + // Calculate speed in mm/sec for each axis. No divide by zero due to previous checks. + 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; } @@ -86,10 +126,6 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc // 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->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 @@ -100,27 +136,36 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc // 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->queue.is_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) { + 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]; + #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(this->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))); } } } @@ -128,8 +173,8 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc 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. @@ -146,7 +191,11 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc 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(); @@ -154,29 +203,14 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc // The block can now be used block->ready(); - THEKERNEL->conveyor->queue_head_block(); -} + THECONVEYOR->queue_head_block(); + return true; +} -// Recalculates the motion plan according to the following algorithm: -// -// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) -// so that: -// a. The junction jerk is within the set limit -// b. No speed reduction within one block requires faster deceleration than the one, true constant -// acceleration. -// 2. Go over every block in chronological order and dial down junction speed reduction values if -// a. The speed increase within one block would require faster accelleration than the one, true -// constant acceleration. -// -// When these stages are complete all blocks have an entry_factor that will allow all speed changes to -// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than -// the set limit. Finally it will: -// -// 3. Recalculate trapezoids for all blocks. -// -void Planner::recalculate() { - Conveyor::Queue_t &queue = THEKERNEL->conveyor->queue; +void Planner::recalculate() +{ + Conveyor::Queue_t &queue = THECONVEYOR->queue; unsigned int block_index; @@ -219,10 +253,8 @@ void Planner::recalculate() { 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); @@ -233,15 +265,14 @@ void Planner::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 */ 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); @@ -267,10 +298,10 @@ void Planner::recalculate() { // 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)); }