Commit | Line | Data |
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7b49793d | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
7b49793d | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "libs/nuts_bolts.h" | |
11 | #include <math.h> | |
4cff3ded AW |
12 | #include <string> |
13 | #include "Block.h" | |
14 | #include "Planner.h" | |
3fceb8eb | 15 | #include "Conveyor.h" |
4cff3ded AW |
16 | using std::string; |
17 | #include <vector> | |
18 | #include "../communication/utils/Gcode.h" | |
19 | ||
edac9072 AW |
20 | // A block represents a movement, it's length for each stepper motor, and the corresponding acceleration curves. |
21 | // It's stacked on a queue, and that queue is then executed in order, to move the motors. | |
22 | // Most of the accel math is also done in this class | |
23 | // And GCode objects for use in on_gcode_execute are also help in here | |
24 | ||
1cf31736 JM |
25 | Block::Block() |
26 | { | |
27 | clear(); | |
28 | } | |
29 | ||
30 | void Block::clear() | |
31 | { | |
32 | //commands.clear(); | |
33 | //travel_distances.clear(); | |
34 | gcodes.clear(); | |
4cff3ded | 35 | clear_vector(this->steps); |
1cf31736 JM |
36 | |
37 | steps_event_count= 0; | |
38 | nominal_rate= 0; | |
39 | nominal_speed= 0.0F; | |
40 | millimeters= 0.0F; | |
41 | entry_speed= 0.0F; | |
42 | rate_delta= 0.0F; | |
43 | initial_rate= -1; | |
44 | final_rate= -1; | |
45 | accelerate_until= 0; | |
46 | decelerate_after= 0; | |
47 | direction_bits= 0; | |
48 | recalculate_flag= false; | |
49 | nominal_length_flag= false; | |
50 | max_entry_speed= 0.0F; | |
51 | is_ready= false; | |
52 | times_taken= 0; | |
4cff3ded AW |
53 | } |
54 | ||
1cf31736 JM |
55 | void Block::debug() |
56 | { | |
a617ac35 | 57 | THEKERNEL->serial->printf("%p: steps:X%04d Y%04d Z%04d(max:%4d) nominal:r%10d/s%6.1f mm:%9.6f rdelta:%8f acc:%5d dec:%5d rates:%10d>%10d entry/max: %10.4f/%10.4f taken:%d ready:%d recalc:%d nomlen:%d\r\n", |
2134bcf2 MM |
58 | this, |
59 | this->steps[0], | |
60 | this->steps[1], | |
61 | this->steps[2], | |
62 | this->steps_event_count, | |
63 | this->nominal_rate, | |
64 | this->nominal_speed, | |
65 | this->millimeters, | |
66 | this->rate_delta, | |
67 | this->accelerate_until, | |
68 | this->decelerate_after, | |
69 | this->initial_rate, | |
70 | this->final_rate, | |
71 | this->entry_speed, | |
72 | this->max_entry_speed, | |
73 | this->times_taken, | |
74 | this->is_ready, | |
a617ac35 MM |
75 | recalculate_flag?1:0, |
76 | nominal_length_flag?1:0 | |
2134bcf2 | 77 | ); |
4cff3ded AW |
78 | } |
79 | ||
80 | ||
69735c09 | 81 | /* Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. |
4cff3ded AW |
82 | // The factors represent a factor of braking and must be in the range 0.0-1.0. |
83 | // +--------+ <- nominal_rate | |
84 | // / \ | |
85 | // nominal_rate*entry_factor -> + \ | |
86 | // | + <- nominal_rate*exit_factor | |
87 | // +-------------+ | |
88 | // time --> | |
edac9072 | 89 | */ |
a617ac35 | 90 | void Block::calculate_trapezoid( float entryspeed, float exitspeed ) |
1cf31736 | 91 | { |
2bb8b390 | 92 | |
edac9072 | 93 | // The planner passes us factors, we need to transform them in rates |
a617ac35 MM |
94 | this->initial_rate = ceil(this->nominal_rate * entryspeed / this->nominal_speed); // (step/min) |
95 | this->final_rate = ceil(this->nominal_rate * exitspeed / this->nominal_speed); // (step/min) | |
813727fb | 96 | |
edac9072 | 97 | // How many steps to accelerate and decelerate |
1ad23cd3 | 98 | float acceleration_per_minute = this->rate_delta * THEKERNEL->stepper->acceleration_ticks_per_second * 60.0; // ( step/min^2) |
4cff3ded | 99 | int accelerate_steps = ceil( this->estimate_acceleration_distance( this->initial_rate, this->nominal_rate, acceleration_per_minute ) ); |
813727fb | 100 | int decelerate_steps = floor( this->estimate_acceleration_distance( this->nominal_rate, this->final_rate, -acceleration_per_minute ) ); |
4cff3ded | 101 | |
edac9072 | 102 | // Calculate the size of Plateau of Nominal Rate ( during which we don't accelerate nor decelerate, but just cruise ) |
1cf31736 JM |
103 | int plateau_steps = this->steps_event_count - accelerate_steps - decelerate_steps; |
104 | ||
105 | // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will | |
106 | // have to use intersection_distance() to calculate when to abort acceleration and start braking | |
107 | // in order to reach the final_rate exactly at the end of this block. | |
108 | if (plateau_steps < 0) { | |
109 | accelerate_steps = ceil(this->intersection_distance(this->initial_rate, this->final_rate, acceleration_per_minute, this->steps_event_count)); | |
110 | accelerate_steps = max( accelerate_steps, 0 ); // Check limits due to numerical round-off | |
111 | accelerate_steps = min( accelerate_steps, int(this->steps_event_count) ); | |
112 | plateau_steps = 0; | |
113 | } | |
114 | this->accelerate_until = accelerate_steps; | |
115 | this->decelerate_after = accelerate_steps + plateau_steps; | |
4cff3ded AW |
116 | |
117 | } | |
118 | ||
119 | // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the | |
120 | // given acceleration: | |
1cf31736 JM |
121 | float Block::estimate_acceleration_distance(float initialrate, float targetrate, float acceleration) |
122 | { | |
123 | return( ((targetrate * targetrate) - (initialrate * initialrate)) / (2.0F * acceleration)); | |
4cff3ded AW |
124 | } |
125 | ||
126 | // This function gives you the point at which you must start braking (at the rate of -acceleration) if | |
127 | // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after | |
128 | // a total travel of distance. This can be used to compute the intersection point between acceleration and | |
129 | // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) | |
130 | // | |
131 | /* + <- some maximum rate we don't care about | |
132 | /|\ | |
133 | / | \ | |
134 | / | + <- final_rate | |
135 | / | | | |
136 | initial_rate -> +----+--+ | |
137 | ^ ^ | |
138 | | | | |
139 | intersection_distance distance */ | |
1cf31736 JM |
140 | float Block::intersection_distance(float initialrate, float finalrate, float acceleration, float distance) |
141 | { | |
142 | return((2 * acceleration * distance - initialrate * initialrate + finalrate * finalrate) / (4 * acceleration)); | |
4cff3ded AW |
143 | } |
144 | ||
4cff3ded AW |
145 | // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the |
146 | // acceleration within the allotted distance. | |
1cf31736 JM |
147 | inline float max_allowable_speed(float acceleration, float target_velocity, float distance) |
148 | { | |
a617ac35 | 149 | return sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance); |
4cff3ded AW |
150 | } |
151 | ||
152 | ||
153 | // Called by Planner::recalculate() when scanning the plan from last to first entry. | |
a617ac35 | 154 | float Block::reverse_pass(float exit_speed) |
1cf31736 | 155 | { |
a617ac35 MM |
156 | // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. |
157 | // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and | |
158 | // check for maximum allowable speed reductions to ensure maximum possible planned speed. | |
159 | if (this->entry_speed != this->max_entry_speed) | |
160 | { | |
161 | // If nominal length true, max junction speed is guaranteed to be reached. Only compute | |
162 | // for max allowable speed if block is decelerating and nominal length is false. | |
163 | if ((!this->nominal_length_flag) && (this->max_entry_speed > exit_speed)) | |
164 | { | |
165 | float max_entry_speed = max_allowable_speed(-THEKERNEL->planner->acceleration, exit_speed, this->millimeters); | |
166 | ||
167 | this->entry_speed = min(max_entry_speed, this->max_entry_speed); | |
168 | ||
169 | return this->entry_speed; | |
aab6cbba | 170 | } |
a617ac35 MM |
171 | else |
172 | this->entry_speed = this->max_entry_speed; | |
173 | } | |
4cff3ded | 174 | |
a617ac35 | 175 | return this->entry_speed; |
aab6cbba | 176 | } |
4cff3ded AW |
177 | |
178 | ||
179 | // Called by Planner::recalculate() when scanning the plan from first to last entry. | |
a617ac35 MM |
180 | // returns maximum exit speed of this block |
181 | float Block::forward_pass(float prev_max_exit_speed) | |
1cf31736 | 182 | { |
aab6cbba AW |
183 | // If the previous block is an acceleration block, but it is not long enough to complete the |
184 | // full speed change within the block, we need to adjust the entry speed accordingly. Entry | |
185 | // speeds have already been reset, maximized, and reverse planned by reverse planner. | |
186 | // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. | |
a617ac35 MM |
187 | |
188 | // TODO: find out if both of these checks are necessary | |
189 | if (prev_max_exit_speed > nominal_speed) | |
190 | prev_max_exit_speed = nominal_speed; | |
191 | if (prev_max_exit_speed > max_entry_speed) | |
192 | prev_max_exit_speed = max_entry_speed; | |
193 | ||
194 | if (prev_max_exit_speed <= entry_speed) | |
195 | { | |
196 | // accel limited | |
197 | entry_speed = prev_max_exit_speed; | |
198 | // since we're now acceleration or cruise limited | |
199 | // we don't need to recalculate our entry speed anymore | |
200 | recalculate_flag = false; | |
aab6cbba | 201 | } |
a617ac35 MM |
202 | // else |
203 | // // decel limited, do nothing | |
7b49793d | 204 | |
a617ac35 MM |
205 | return max_exit_speed(); |
206 | } | |
207 | ||
208 | float Block::max_exit_speed() | |
209 | { | |
210 | // if nominal_length_flag is asserted | |
211 | // we are guaranteed to reach nominal speed regardless of entry speed | |
212 | // thus, max exit will always be nominal | |
213 | if (nominal_length_flag) | |
214 | return nominal_speed; | |
215 | ||
216 | // otherwise, we have to work out max exit speed based on entry and acceleration | |
217 | float max = max_allowable_speed(-THEKERNEL->planner->acceleration, this->entry_speed, this->millimeters); | |
218 | ||
219 | return min(max, nominal_speed); | |
4cff3ded AW |
220 | } |
221 | ||
4cff3ded | 222 | // Gcodes are attached to their respective blocks so that on_gcode_execute can be called with it |
2134bcf2 | 223 | void Block::append_gcode(Gcode* gcode) |
1cf31736 | 224 | { |
1cf31736 | 225 | Gcode new_gcode = *gcode; |
2134bcf2 | 226 | gcodes.push_back(new_gcode); |
4cff3ded AW |
227 | } |
228 | ||
2134bcf2 | 229 | void Block::begin() |
1cf31736 | 230 | { |
2134bcf2 | 231 | recalculate_flag = false; |
a617ac35 | 232 | |
2134bcf2 MM |
233 | // execute all the gcodes related to this block |
234 | for(unsigned int index = 0; index < gcodes.size(); index++) | |
235 | THEKERNEL->call_event(ON_GCODE_EXECUTE, &(gcodes[index])); | |
236 | ||
237 | THEKERNEL->call_event(ON_BLOCK_BEGIN, this); | |
4cff3ded AW |
238 | } |
239 | ||
3fceb8eb | 240 | // Signal the conveyor that this block is ready to be injected into the system |
1cf31736 JM |
241 | void Block::ready() |
242 | { | |
13e4a3f9 | 243 | this->is_ready = true; |
3a4fa0c1 AW |
244 | } |
245 | ||
246 | // Mark the block as taken by one more module | |
1cf31736 JM |
247 | void Block::take() |
248 | { | |
3a4fa0c1 AW |
249 | this->times_taken++; |
250 | } | |
4cff3ded | 251 | |
3a4fa0c1 | 252 | // Mark the block as no longer taken by one module, go to next block if this free's it |
1cf31736 JM |
253 | void Block::release() |
254 | { | |
2134bcf2 | 255 | if (--this->times_taken <= 0) |
347854ff | 256 | THEKERNEL->call_event(ON_BLOCK_END, this); |
06a96473 MM |
257 | |
258 | // ensure conveyor gets called last | |
259 | THEKERNEL->conveyor->on_block_end(this); | |
3a4fa0c1 | 260 | } |