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trapq: Use separate 'move' entries for accel, cruise, and decel phases

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Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-11-05 15:42:19 -05:00
parent 7ca86f1723
commit 076a66f791
5 changed files with 86 additions and 71 deletions
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59
klippy/chelper/kin_extruder.c
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@@ -32,30 +32,49 @@ extruder_stepper_alloc(void)
void __visible
extruder_add_move(struct trapq *tq, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos
, double start_e_pos
, double start_v, double cruise_v, double accel
, double extra_accel_v, double extra_decel_v)
{
struct move *m = move_alloc();
struct coord start_pos, axes_r;
start_pos.x = start_e_pos;
axes_r.x = 1.;
start_pos.y = start_pos.z = axes_r.y = axes_r.z = 0.;
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
m->accel_t = accel_t;
m->cruise_t = cruise_t;
m->cruise_start_d = accel_t * (.5 * (cruise_v + start_v) + extra_accel_v);
m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
if (accel_t) {
struct move *m = move_alloc();
m->print_time = print_time;
m->move_t = accel_t;
m->start_v = start_v + extra_accel_v;
m->half_accel = .5 * accel;
m->start_pos = start_pos;
m->axes_r = axes_r;
trapq_add_move(tq, m);
// Setup for accel/cruise/decel phases
m->cruise_v = cruise_v;
m->accel.c1 = start_v + extra_accel_v;
m->accel.c2 = .5 * accel;
m->decel.c1 = cruise_v + extra_decel_v;
m->decel.c2 = -m->accel.c2;
print_time += accel_t;
start_pos.x += move_get_distance(m, accel_t);
}
if (cruise_t) {
struct move *m = move_alloc();
m->print_time = print_time;
m->move_t = cruise_t;
m->start_v = cruise_v;
m->half_accel = 0.;
m->start_pos = start_pos;
m->axes_r = axes_r;
trapq_add_move(tq, m);
// Setup start distance
m->start_pos.x = start_pos;
m->axes_r.x = 1.;
trapq_add_move(tq, m);
print_time += cruise_t;
start_pos.x += move_get_distance(m, cruise_t);
}
if (decel_t) {
struct move *m = move_alloc();
m->print_time = print_time;
m->move_t = decel_t;
m->start_v = cruise_v + extra_decel_v;
m->half_accel = -.5 * accel;
m->start_pos = start_pos;
m->axes_r = axes_r;
trapq_add_move(tq, m);
}
}