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using the new estimator in vector math for gcode timing

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This commit is contained in:
Lars Brubaker 2018-09-19 18:20:05 -07:00
parent 8a00c397d5
commit 56ad74ecc7
3 changed files with 16 additions and 60 deletions
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57
MatterControl.Printing/GCode/GCodeFile.cs
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@ -214,63 +214,6 @@ namespace MatterControl.Printing
return stringWithNumber;
}
// Vector4 maxAccelerationMmPerS2 = new Vector4(1000, 1000, 100, 5000);
// Vector4 maxVelocityMmPerS = new Vector4(500, 500, 5, 25);
// Vector4 velocitySameAsStopMmPerS = new Vector4(8, 8, .4, 5);
protected static double GetSecondsThisLine(Vector3 deltaPositionThisLine,
double deltaEPositionThisLine,
double feedRateMmPerMin,
Vector4 maxAccelerationMmPerS2,
Vector4 maxVelocityMmPerS,
Vector4 velocitySameAsStopMmPerS,
Vector4 speedMultiplierV4)
{
double lengthOfThisMoveMm = Math.Max(deltaPositionThisLine.Length, deltaEPositionThisLine);
if (lengthOfThisMoveMm == 0)
{
return 0;
}
double maxVelocityMmPerSx = Math.Min(feedRateMmPerMin / 60, maxVelocityMmPerS.X);
double startingVelocityMmPerS = Math.Min(velocitySameAsStopMmPerS.X, maxVelocityMmPerSx);
double endingVelocityMmPerS = startingVelocityMmPerS;
double acceleration = maxAccelerationMmPerS2.X;
double speedMultiplier = speedMultiplierV4.X;
double distanceToMaxVelocity = GetDistanceToReachEndingVelocity(startingVelocityMmPerS, maxVelocityMmPerSx, acceleration);
if (distanceToMaxVelocity <= lengthOfThisMoveMm / 2)
{
// we will reach max velocity then run at it and then decelerate
double accelerationTime = GetTimeToAccelerateDistance(startingVelocityMmPerS, distanceToMaxVelocity, acceleration) * 2;
double runningTime = (lengthOfThisMoveMm - (distanceToMaxVelocity * 2)) / maxVelocityMmPerSx;
return (accelerationTime + runningTime) * speedMultiplier;
}
else
{
// we will accelerate to the center then decelerate
double accelerationTime = GetTimeToAccelerateDistance(startingVelocityMmPerS, lengthOfThisMoveMm / 2, acceleration) * 2;
return (accelerationTime) * speedMultiplier;
}
}
private static double GetDistanceToReachEndingVelocity(double startingVelocityMmPerS, double endingVelocityMmPerS, double accelerationMmPerS2)
{
double endingVelocityMmPerS2 = endingVelocityMmPerS * endingVelocityMmPerS;
double startingVelocityMmPerS2 = startingVelocityMmPerS * startingVelocityMmPerS;
return (endingVelocityMmPerS2 - startingVelocityMmPerS2) / (2.0 * accelerationMmPerS2);
}
private static double GetTimeToAccelerateDistance(double startingVelocityMmPerS, double distanceMm, double accelerationMmPerS2)
{
// d = vi * t + .5 * a * t^2;
// t = (√(vi^2+2ad)-vi)/a
double startingVelocityMmPerS2 = startingVelocityMmPerS * startingVelocityMmPerS;
double distanceAcceleration2 = 2 * accelerationMmPerS2 * distanceMm;
return (Math.Sqrt(startingVelocityMmPerS2 + distanceAcceleration2) - startingVelocityMmPerS) / accelerationMmPerS2;
}
private static readonly bool Is32Bit = IntPtr.Size == 4;
#endregion Static Functions
}