88 lines
2.8 KiB
C
88 lines
2.8 KiB
C
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// Trapezoidal velocity movement queue
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//
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// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <math.h> // sqrt
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // unlikely
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#include "trapq.h" // move_get_coord
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struct move * __visible
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move_alloc(void)
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{
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struct move *m = malloc(sizeof(*m));
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memset(m, 0, sizeof(*m));
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return m;
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}
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// Populate a 'struct move' with a velocity trapezoid
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void __visible
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move_fill(struct move *m, double print_time
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, double accel_t, double cruise_t, double decel_t
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, double start_pos_x, double start_pos_y, double start_pos_z
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, double axes_d_x, double axes_d_y, double axes_d_z
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, double start_v, double cruise_v, double accel)
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{
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// Setup velocity trapezoid
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m->print_time = print_time;
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m->move_t = accel_t + cruise_t + decel_t;
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m->accel_t = accel_t;
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m->cruise_t = cruise_t;
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m->cruise_start_d = accel_t * .5 * (cruise_v + start_v);
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m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
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// Setup for accel/cruise/decel phases
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m->cruise_v = cruise_v;
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m->accel.c1 = start_v;
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m->accel.c2 = .5 * accel;
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m->decel.c1 = cruise_v;
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m->decel.c2 = -m->accel.c2;
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// Setup for move_get_coord()
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m->start_pos.x = start_pos_x;
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m->start_pos.y = start_pos_y;
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m->start_pos.z = start_pos_z;
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double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
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+ axes_d_z*axes_d_z);
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m->axes_r.x = axes_d_x * inv_move_d;
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m->axes_r.y = axes_d_y * inv_move_d;
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m->axes_r.z = axes_d_z * inv_move_d;
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}
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// Find the distance travel during acceleration/deceleration
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static inline double
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move_eval_accel(struct move_accel *ma, double move_time)
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{
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return (ma->c1 + ma->c2 * move_time) * move_time;
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}
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// Return the distance moved given a time in a move
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inline double
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move_get_distance(struct move *m, double move_time)
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{
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if (unlikely(move_time < m->accel_t))
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// Acceleration phase of move
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return move_eval_accel(&m->accel, move_time);
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move_time -= m->accel_t;
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if (likely(move_time <= m->cruise_t))
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// Cruising phase
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return m->cruise_start_d + m->cruise_v * move_time;
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// Deceleration phase
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move_time -= m->cruise_t;
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return m->decel_start_d + move_eval_accel(&m->decel, move_time);
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}
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// Return the XYZ coordinates given a time in a move
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inline struct coord
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move_get_coord(struct move *m, double move_time)
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{
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double move_dist = move_get_distance(m, move_time);
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return (struct coord) {
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.x = m->start_pos.x + m->axes_r.x * move_dist,
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.y = m->start_pos.y + m->axes_r.y * move_dist,
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.z = m->start_pos.z + m->axes_r.z * move_dist };
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}
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