#include "Block.h"
#include "Planner.h"
#include "Conveyor.h"
+#include "StepperMotor.h"
+#include "Config.h"
+#include "checksumm.h"
+#include "Robot.h"
+#include "Stepper.h"
+
+#include <math.h>
#define acceleration_checksum CHECKSUM("acceleration")
#define max_jerk_checksum CHECKSUM("max_jerk")
// Configure acceleration
void Planner::on_config_reload(void* argument){
- this->acceleration = THEKERNEL->config->value(acceleration_checksum )->by_default(100 )->as_number() * 60 * 60; // Acceleration is in mm/minute^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->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();
}
// Append a block to the queue, compute it's speed factors
-void Planner::append_block( float actuator_pos[], float feed_rate, float distance, float deltas[] ){
-
+void Planner::append_block( float actuator_pos[], float rate_mm_s, float distance, float unit_vec[] )
+{
// Create ( recycle ) a new block
Block* block = THEKERNEL->conveyor->queue.head_ref();
if (steps < 0)
block->direction_bits |= (1<<i);
+ // Update current position
+ THEKERNEL->robot->actuators[i]->last_milestone_steps += steps;
+ THEKERNEL->robot->actuators[i]->last_milestone_mm = actuator_pos[i];
+
block->steps[i] = labs(steps);
}
block->steps_event_count = max( block->steps[ALPHA_STEPPER], max( block->steps[BETA_STEPPER], block->steps[GAMMA_STEPPER] ) );
block->millimeters = distance;
- float inverse_millimeters = 0.0F;
- if( distance > 0 ){ inverse_millimeters = 1.0F/distance; }
- // Calculate speed in mm/minute for each axis. No divide by zero due to previous checks.
+ // 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
- float inverse_minute = feed_rate * inverse_millimeters;
- if( distance > 0 ){
- block->nominal_speed = block->millimeters * inverse_minute; // (mm/min) Always > 0
- block->nominal_rate = ceil(block->steps_event_count * inverse_minute); // (step/min) Always > 0
+ 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_speed = 0;
- block->nominal_rate = 0;
+ block->nominal_speed = 0.0F;
+ block->nominal_rate = 0;
}
// Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line
// 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 = (float)( ( block->steps_event_count*inverse_millimeters * this->acceleration ) / ( THEKERNEL->stepper->acceleration_ticks_per_second * 60 ) ); // (step/min/acceleration_tick)
-
- // Compute path unit vector
- float unit_vec[3];
- unit_vec[X_AXIS] = deltas[X_AXIS]*inverse_millimeters;
- unit_vec[Y_AXIS] = deltas[Y_AXIS]*inverse_millimeters;
- unit_vec[Z_AXIS] = deltas[Z_AXIS]*inverse_millimeters;
+ 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
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined minimum_planner_speed.
- float v_allowable = this->max_allowable_speed(-this->acceleration,minimum_planner_speed,block->millimeters); //TODO: Get from config
+ float v_allowable = max_allowable_speed(-acceleration, minimum_planner_speed, block->millimeters); //TODO: Get from config
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
block->recalculate_flag = true;
// Update previous path unit_vector and nominal speed
- memcpy(this->previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[]
-
- // Update current position
- for (int i = 0; i < 3; i++)
- THEKERNEL->robot->actuators[i]->change_last_milestone(actuator_pos[i]);
+ memcpy(this->previous_unit_vec, unit_vec, sizeof(previous_unit_vec)); // previous_unit_vec[] = unit_vec[]
// Math-heavy re-computing of the whole queue to take the new
this->recalculate();
THEKERNEL->conveyor->queue_head_block();
}
-
-// 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;
HCoop / clinton / Smoothieware.git / blobdiff