Commit Graph

6 Commits

Author SHA1 Message Date
Kevin O'Connor 32f61b01e9 trapq: Use C99 method for declaring struct members in trapq_append()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 11:32:53 -05:00
Kevin O'Connor 86121ff79e toolhead: Calculate and store axes_r in move class
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r.  This avoids
needing to recalculate the value in other code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 076a66f791 trapq: Use separate 'move' entries for accel, cruise, and decel phases
Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 1acaaa98c2 trapq: Remove move_fill()
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor d3afe4f1d8 trapq: Initial support for building a queue of trapezoidal velocity moves
Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor fdbdb3c707 trapq: Add new trapq.c file with code for trapezoidal velocity handling
Move the "struct move" code from itersolve.c to new file trapq.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00