melch/Marlin
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Merge pull request #3978 from thinkyhead/rc_planner_local_rename

Browse Source 
Rename some auto/locals to avoid name conflict
This commit is contained in:
Scott Lahteine 2016-06-08 16:41:57 -07:00
commit a569e89775
2 changed files with 13 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Marlin/planner.cpp
View File

@ -155,18 +155,18 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
NOLESS(initial_rate, 120);
NOLESS(final_rate, 120);
long acceleration = block->acceleration_st;
int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
long accel = block->acceleration_st;
int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel));
int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// have to use intersection_distance() to calculate when to abort accel and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0;

16
Marlin/planner.h
View File

@ -281,9 +281,9 @@ class Planner {
* Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration:
*/
static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) {
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
return (target_rate * target_rate - initial_rate * initial_rate) / (accel * 2);
}
/**
@ -294,9 +294,9 @@ class Planner {
* This is used to compute the intersection point between acceleration and deceleration
* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
*/
static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) {
if (accel == 0) return 0; // accel was 0, set intersection distance to 0
return (accel * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (accel * 4);
}
/**
@ -304,8 +304,8 @@ class Planner {
* to reach 'target_velocity' using 'acceleration' within a given
* 'distance'.
*/
static float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
static float max_allowable_speed(float accel, float target_velocity, float distance) {
return sqrt(target_velocity * target_velocity - 2 * accel * distance);
}
static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);