X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/a2239602284c71da2ab661308e5b37695625b95d..29e809e034ff8610e665aef8c7e60dfe8c42bbe9:/src/modules/robot/Planner.cpp diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp index a7525d5d..fc28cf8d 100644 --- a/src/modules/robot/Planner.cpp +++ b/src/modules/robot/Planner.cpp @@ -21,13 +21,10 @@ using namespace std; #include "Config.h" #include "checksumm.h" #include "Robot.h" -#include "Stepper.h" #include "ConfigValue.h" #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") @@ -38,59 +35,54 @@ 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[] ) +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; @@ -98,10 +90,9 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, 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; @@ -111,10 +102,6 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, // 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->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 @@ -130,10 +117,11 @@ 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()) { + // 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] @@ -142,12 +130,12 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s, // 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))); } } } @@ -156,7 +144,7 @@ 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. @@ -173,7 +161,11 @@ 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(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(); @@ -241,7 +233,7 @@ 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 */ @@ -276,9 +268,8 @@ void Planner::recalculate() // 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)); }