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fixed bug in moving model

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This commit is contained in:
Edward V. Emelianov 2025-07-25 13:42:14 +03:00
parent bed7ac87f8
commit 4ef6f2f6f9
1 changed files with 5 additions and 2 deletions
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7
moving_model/Tramp.c
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@ -122,7 +122,10 @@ static int calc(moveparam_t *x, double t){
DBG("dx01=%g, dt01=%g", dx01, dt01); DBG("dx01=%g, dt01=%g", dx01, dt01);
}else{ // increase or decrease speed without stopping phase }else{ // increase or decrease speed without stopping phase
dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel; dt01 = fabs(sign*setspeed - curparams.speed) / Max.accel;
double a = (curspeed > setspeed) ? -Max.accel : Max.accel; double a = sign * Max.accel;
if(sign * curparams.speed < 0.){DBG("change direction"); a = -a;}
else if(curspeed > setspeed){ DBG("lower speed @ this direction"); a = -a;}
//double a = (curspeed > setspeed) ? -Max.accel : Max.accel;
dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.; dx01 = curspeed * dt01 + a * dt01 * dt01 / 2.;
DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01); DBG("dt01=%g, a=%g, dx01=%g", dt01, a, dx01);
if(dx01 + dx23 > Dx){ // calculate max speed if(dx01 + dx23 > Dx){ // calculate max speed
@ -150,7 +153,7 @@ static int calc(moveparam_t *x, double t){
dx23 = setspeed * dt23 / 2.; dx23 = setspeed * dt23 / 2.;
// calculate dx12 and dt12 // calculate dx12 and dt12
double dx12 = Dx - dx01 - dx23; double dx12 = Dx - dx01 - dx23;
if(dx12 < 0.){ if(dx12 < -coord_tolerance){
DBG("Oops, WTF?"); DBG("Oops, WTF?");
return FALSE; return FALSE;
} }