bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

⚡️ Optimize Planner calculations (#24484)

Browse Source
This commit is contained in:
tombrazier
2022-07-16 00:15:51 +01:00
committed by Scott Lahteine
parent 0a164a88fe
commit cc4fc28fe0
2 changed files with 78 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
Marlin/src/module/planner.h
View File

@ -199,7 +199,7 @@ typedef struct PlannerBlock {
volatile bool is_move() { return !(is_sync() || is_page()); }
// Fields used by the motion planner to manage acceleration
float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2
float nominal_speed, // The nominal speed for this block in (mm/sec)
entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2
max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2
millimeters, // The total travel of this block in mm
@ -510,7 +510,7 @@ class Planner {
/**
* Nominal speed of previous path line segment (mm/s)^2
*/
static float previous_nominal_speed_sqr;
static float previous_nominal_speed;
/**
* Limit where 64bit math is necessary for acceleration calculation
@ -1009,28 +1009,6 @@ class Planner {
static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); }
static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); }
/**
* Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration:
*/
static float estimate_acceleration_distance(const_float_t initial_rate, const_float_t target_rate, const_float_t accel) {
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
}
/**
* Return the point at which you must start braking (at the rate of -'accel') if
* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
* 'final_rate' after traveling 'distance'.
*
* 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(const_float_t initial_rate, const_float_t final_rate, const_float_t accel, const_float_t distance) {
if (accel == 0) return 0; // accel was 0, set intersection distance to 0
return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
}
/**
* Calculate the maximum allowable speed squared at this point, in order
* to reach 'target_velocity_sqr' using 'acceleration' within a given