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toolhead: Calculate maximum junction start when adding moves 

Take into account the maximum possible start speed of a move when
calculating junction_start_max.  This simplifies the lookahead logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-03 18:10:32 -04:00
parent 7c8addc5c5
commit 8e165fecc0
1 changed files with 9 additions and 12 deletions
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21
klippy/toolhead.py
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@ -68,7 +68,8 @@ class Move:
sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta)) sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2) R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
self.junction_start_max = min( self.junction_start_max = min(
R * self.accel, self.junction_max, prev_move.junction_max) R * self.accel, self.junction_max, prev_move.junction_max
, prev_move.junction_start_max + prev_move.junction_delta)
def process(self, junction_start, junction_end): def process(self, junction_start, junction_end):
# Determine accel, cruise, and decel portions of the move distance # Determine accel, cruise, and decel portions of the move distance
junction_cruise = self.junction_max junction_cruise = self.junction_max
@ -111,34 +112,30 @@ class MoveQueue:
del self.queue[:] del self.queue[:]
self.prev_junction_max = self.junction_flush = 0. self.prev_junction_max = self.junction_flush = 0.
def flush(self, lazy=False): def flush(self, lazy=False):
can_flush = not lazy
flush_count = len(self.queue) flush_count = len(self.queue)
junction_end = [None] * flush_count junction_end = [None] * flush_count
# Traverse queue from last to first move and determine maximum # Traverse queue from last to first move and determine maximum
# junction speed assuming the robot comes to a complete stop # junction speed assuming the robot comes to a complete stop
# after the last move. # after the last move.
next_junction_max = 0. next_junction_max = 0.
for i in range(len(self.queue)-1, -1, -1): for i in range(flush_count-1, -1, -1):
move = self.queue[i] move = self.queue[i]
junction_end[i] = next_junction_max junction_end[i] = next_junction_max
if not can_flush:
flush_count -= 1
next_junction_max = next_junction_max + move.junction_delta next_junction_max = next_junction_max + move.junction_delta
if next_junction_max >= move.junction_start_max: if next_junction_max >= move.junction_start_max:
next_junction_max = move.junction_start_max next_junction_max = move.junction_start_max
can_flush = True if lazy:
flush_count = i
lazy = False
# Generate step times for all moves ready to be flushed # Generate step times for all moves ready to be flushed
prev_junction_max = self.prev_junction_max prev_junction_max = self.prev_junction_max
for i in range(flush_count): for i in range(flush_count):
move = self.queue[i] move = self.queue[i]
next_junction_max = min(prev_junction_max + move.junction_delta move.process(prev_junction_max, junction_end[i])
, junction_end[i]) prev_junction_max = junction_end[i]
move.process(prev_junction_max, next_junction_max) self.prev_junction_max = prev_junction_max
prev_junction_max = next_junction_max
# Remove processed moves from the queue # Remove processed moves from the queue
del self.queue[:flush_count] del self.queue[:flush_count]
self.prev_junction_max = prev_junction_max
self.junction_flush = 0.
if self.queue: if self.queue:
self.junction_flush = self.queue[-1].junction_max self.junction_flush = self.queue[-1].junction_max
def add_move(self, move): def add_move(self, move):