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This commit is contained in:
Alden Hart
2017-04-04 09:53:15 +02:00
parent 04f2ee38e8
commit f278cb156f
2 changed files with 19 additions and 13 deletions
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g2core/cycle_feedhold.cpp
+6
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@@ -379,6 +379,9 @@ static void _start_cycle_restart()
* cm_request_queue_flush() - set request enum only
* _start_queue_flush() - run a queue flush from a %
* _restart_flush() - run a queue flush from an action
*
* cm_request_queue_flush() should be called concurrently with xio_flush_to_command()
* cm_request_queue_flush(); xio_flush_to_command();
*/
void cm_request_queue_flush()
@@ -420,6 +423,9 @@ static stat_t _run_queue_flush() // typically runs from cm1 planner
* _run_job_kill_final() - perform the job kill. queue flush, enter alarm with no movement
* _start_job_kill() - invoke the job kill function, which may start from various states
*
* cm_request_job_kill() should be called concurrently with xio_flush_to_command()
* cm_request_job_kill(); xio_flush_to_command();
*
* Job kill cases: Actions:
* (0) job kill has no action if from READY, STOP, END, ALARM, SHUTDOWN, PANIC states
* (1) Job kill from machining cycle hold, flush and enter ALARM state
g2core/plan_zoid.cpp
+13 -13
View File
@@ -358,10 +358,10 @@ float mp_get_target_length(const float v_0, const float v_1, const mpBuf_t* bf)
}
/*
* mp_get_target_velocity() - find the velocity we would achieve if we *accelerated* from v_0
* mp_get_target_velocity() - find the velocity we would achieve if we accelerated from v_0
*
* Get "the velocity" that we would end up at if we *accelerated* from v_0
* over the provided L (length) and J (jerk, provided in the bf structure).
* Get the velocity that we would end up at if we accelerated from v_0
* over the provided L (length) and J (jerk, provided in the bf structure)
*/
// 14 *, 1 /, 1 sqrt, 1 cbrt
@@ -374,16 +374,16 @@ float mp_get_target_velocity(const float v_0, const float L, const mpBuf_t* bf)
const float j = bf->jerk;
const float a80 = 7.698003589195; // 80 * a
const float a_2 = 0.00925925925926; // a^2
const float a80 = 7.698003589195; // 80 * a
const float a_2 = 0.00925925925926; // a^2
const float v_0_2 = v_0 * v_0; // v_0^2
const float v_0_3 = v_0_2 * v_0; // v_0^3
const float v_0_2 = v_0 * v_0; // v_0^2
const float v_0_3 = v_0_2 * v_0; // v_0^3
const float L_2 = L * L; // L^2
const float L_2 = L * L; // L^2
const float b_part1 = 9 * j * L_2; // 9 j L^2
const float b_part2 = a80 * v_0_3; // 80 a v_0^3
const float b_part1 = 9 * j * L_2; // 9 j L^2
const float b_part2 = a80 * v_0_3; // 80 a v_0^3
// b^3 = a^2 (3 L sqrt(j (2 b_part2 + b_part1)) + b_part2 + b_part1)
const float b_cubed = a_2 * (3 * L * sqrt(j * (2 * b_part2 + b_part1)) + b_part2 + b_part1);
@@ -405,7 +405,7 @@ float mp_get_target_velocity(const float v_0, const float L, const mpBuf_t* bf)
* Get the velocity that we would end up at if we decelerated from v_0,
* over the provided L (length) and J (jerk, provided in the bf structure).
*
* We have to use a root finding solution, since there is actually three possible
* We have to use a root finding solution, since there are actually three possible
* solutions. We can eliminate one quickly, since it's the acceleration case.
*
* The other two cases are occasionally the same value, but this is rare.
@@ -513,7 +513,7 @@ static float _get_meet_velocity(const float v_0,
if (block->head_length > L) {
block->head_length = L;
block->body_length = 0;
v_1 = mp_get_target_velocity(v_0, L, bf);
v_1 = mp_get_target_velocity(v_0, L, bf);
} else {
block->body_length = L - block->head_length;
}
@@ -525,7 +525,7 @@ static float _get_meet_velocity(const float v_0,
if (block->tail_length > L) {
block->tail_length = L;
block->body_length = 0;
v_1 = mp_get_target_velocity(v_2, L, bf);
v_1 = mp_get_target_velocity(v_2, L, bf);
} else {
block->body_length = L - block->tail_length;
}