Mirrors_Framework/g2
1
0
Fork 0
mirror of https://github.com/synthetos/g2.git synced 2026-02-06 02:51:54 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Apply feedrate overrides to arcs, catch override-caused plan edge-case

Browse Source
This commit is contained in:
Rob Giseburt
2020-07-26 15:47:13 -05:00
parent 6503304786
commit a9d7ed48df
1 changed files with 14 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
g2core/plan_zoid.cpp
View File

@@ -144,9 +144,10 @@ stat_t mp_calculate_ramps(mpBlockRuntimeBuf_t* block, mpBuf_t* bf, const float e
if (bf->gm.motion_mode == MOTION_MODE_STRAIGHT_TRAVERSE) {
bf->override_factor = cm->gmx.mto_enable ? cm->gmx.mto_factor : 1.0;
}
else if (bf->gm.motion_mode == MOTION_MODE_STRAIGHT_FEED) {
else if ((bf->gm.motion_mode == MOTION_MODE_STRAIGHT_FEED) || (bf->gm.motion_mode == MOTION_MODE_CW_ARC) || (bf->gm.motion_mode == MOTION_MODE_CCW_ARC)) {
bf->override_factor = cm->gmx.mfo_enable ? cm->gmx.mfo_factor : 1.0;
}
// bf->cruise_vmax adjusted by override cannot go above absolute vmax,
// and should stay below the back-planned cruise velocity.
bf->cruise_vmax = std::min(bf->absolute_vmax, std::min(bf->cruise_velocity, bf->override_factor * bf->cruise_vset));
@@ -216,13 +217,19 @@ stat_t mp_calculate_ramps(mpBlockRuntimeBuf_t* block, mpBuf_t* bf, const float e
else if (bf->hint == MIXED_DECELERATION) {
block->tail_length = mp_get_target_length(block->exit_velocity, block->cruise_velocity, bf);
block->body_length = bf->length - block->tail_length;
debug_trap_if_true((block->body_length < 0), "invlaid negative body_length from MIXED_DECELERATION");
block->head_length = 0;
if (block->body_length < 0) {
debug_trap_if_true((block->body_length < 0), "invlaid negative body_length from MIXED_DECELERATION");
block->body_time = block->body_length / block->cruise_velocity;
block->tail_time = block->tail_length * 2 / (block->exit_velocity + block->cruise_velocity);
bf->block_time = block->body_time + block->tail_time;
return (_ramp_exit_logger(bf, "2d"));
// something went wrong and we missed it, try for an asymetric bump
bf->hint = ASYMMETRIC_BUMP;
} else {
block->head_length = 0;
block->body_time = block->body_length / block->cruise_velocity;
block->tail_time = block->tail_length * 2 / (block->exit_velocity + block->cruise_velocity);
bf->block_time = block->body_time + block->tail_time;
return (_ramp_exit_logger(bf, "2d"));
}
}
// PERFECT_DECELERATION (1d) single tail segment (deltaV == delta_vmax)