Almost done trapezioidal model
This commit is contained in:
eddyem
parent
33d7800a62
commit
89d67fd95c
@ -78,7 +78,7 @@ static int calc(moveparam_t *x, double t){
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T1 = t + ticks_need * time_tick;
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}
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}
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state = ST_CONSTSPEED;
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state = ST_MOVE;
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Xlast0 = curparams.coord;
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if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
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else movingstage = STAGE_MINSPEED;
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@ -87,7 +87,7 @@ static int calc(moveparam_t *x, double t){
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return TRUE;
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}
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static void stop(){
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static void stop(double _U_ t){
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T0 = -1.;
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curparams.accel = 0.;
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curparams.speed = 0.;
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@ -104,7 +104,7 @@ static movestate_t proc(moveparam_t *next, double t){
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else{ if(curparams.coord > target.coord) ooops = TRUE; }
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if(ooops){
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DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
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stop();
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stop(t);
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if(next) *next = curparams;
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return state;
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}
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@ -120,7 +120,7 @@ static movestate_t proc(moveparam_t *next, double t){
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}
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if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
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DBG("OK, we are in place");
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stop();
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stop(t);
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}
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if(next) *next = curparams;
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return state;
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@ -18,12 +18,229 @@
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// simplest trapezioidal ramp
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#include <math.h>
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#include <stdio.h>
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#include <strings.h>
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#include <usefull_macros.h>
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#include "Tramp.h"
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static movestate_t state = ST_STOP;
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static moveparam_t target, Min, Max; // `Min` acceleration not used!
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typedef enum{
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STAGE_ACCEL, // start from zero speed and accelerate to Max speed
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STAGE_MAXSPEED, // go with target speed
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STAGE_DECEL, // go from target speed to zero
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STAGE_STOPPED, // stop
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STAGE_AMOUNT
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} movingstage_t;
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static movingstage_t movingstage = STAGE_STOPPED;
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static double Times[STAGE_AMOUNT] = {0.}; // time when each stage starts
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static moveparam_t Params[STAGE_AMOUNT] = {0.}; // starting parameters for each stage
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static moveparam_t curparams = {0}; // current coordinate/speed/acceleration
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movemodel_t trapez = { 0 };
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int initlims(limits_t *lim){
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if(!lim) return FALSE;
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Min = lim->min;
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Max = lim->max;
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return TRUE;
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}
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static void emstop(double _U_ t){
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curparams.accel = 0.;
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curparams.speed = 0.;
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bzero(Times, sizeof(Times));
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bzero(Params, sizeof(Params));
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state = ST_STOP;
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movingstage = STAGE_STOPPED;
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}
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static void stop(double t){
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if(state == ST_STOP || movingstage == STAGE_STOPPED) return;
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movingstage = STAGE_DECEL;
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state = ST_MOVE;
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Times[STAGE_DECEL] = t;
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Params[STAGE_DECEL].speed = curparams.speed;
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if(curparams.speed > 0.) Params[STAGE_DECEL].accel = -Max.accel;
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else Params[STAGE_DECEL].accel = Max.accel;
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Params[STAGE_DECEL].coord = curparams.coord;
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// speed: v=v2+a2(t-t2), v2 and a2 have different signs; t3: v3=0 -> t3=t2-v2/a2
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Times[STAGE_STOPPED] = t - curparams.speed / Params[STAGE_DECEL].accel;
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// coordinate: x=x2+v2(t-t2)+a2(t-t2)^2/2 -> x3=x2+v2(t3-t2)+a2(t3-t2)^2/2
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double dt = Times[STAGE_STOPPED] - t;
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Params[STAGE_STOPPED].coord = curparams.coord + curparams.speed * dt +
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Params[STAGE_DECEL].accel * dt * dt / 2.;
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}
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// calculations from stopped state
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static int calcfromstop(moveparam_t *x, double t, double xstart){
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// coordinate shift
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double Dx = fabs(x->coord - xstart); // full distance
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double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
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// we have two variants: with or without stage with constant speed
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double dtacc = x->speed / Max.accel; // time to reach given speed
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double dxacc = x->speed * dtacc; // distance on acc/dec stages
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// without constant speed stage we have: 01) x=x0+at^2/2, 12)absent, 23) x=x2+v2*t-at^2/2
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// so for full stage DX should be greater than v^2/2a+v^2/2a=v^2/a (or v*dt)
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Times[0] = t;
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Params[0].accel = sign * Max.accel;
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Params[0].coord = xstart;
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Params[0].speed = 0.;
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if(Dx > 2. * dxacc){ // full stage
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// time and moving on accelerated/decelerated stage
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moveparam_t *p = &Params[STAGE_MAXSPEED];
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p->accel = 0.; p->speed = x->speed; p->coord = xstart + dxacc * sign;
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Times[STAGE_MAXSPEED] = t + dtacc;
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p = &Params[STAGE_DECEL];
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p->accel = -sign * Max.accel; p->coord = x->coord - sign * dxacc; p->speed = x->speed;
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Times[STAGE_DECEL] = Times[STAGE_MAXSPEED] + (Dx - 2. * dxacc) / x->speed;
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p = &Params[STAGE_STOPPED];
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p->speed = 0.; p->accel = 0.; p->coord = x->coord;
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Times[STAGE_STOPPED] = Times[STAGE_DECEL] + dtacc;
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}else{ // short stage
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// calculate max speed
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double maxspeed = sqrt(2. * Max.accel * Dx);
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if(maxspeed < Min.speed) return FALSE; // can't reach
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// full traveling time
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double fullt = Dx / maxspeed;
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Times[STAGE_MAXSPEED] = Times[STAGE_DECEL] = t + fullt / 2.;
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Times[STAGE_STOPPED] = t + fullt;
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moveparam_t *p = &Params[STAGE_MAXSPEED];
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p->accel = 0.; p->speed = maxspeed * sign; p->coord = xstart + Dx / 2. * sign;
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p = &Params[STAGE_DECEL];
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p->accel = -sign * Max.accel;
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p->coord = Params[STAGE_MAXSPEED].coord;
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p->speed = Params[STAGE_MAXSPEED].speed;
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p = &Params[STAGE_STOPPED];
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p->speed = 0.; p->accel = 0.; p->coord = x->coord;
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}
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if(Times[STAGE_STOPPED] < t) return FALSE;
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return TRUE;
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}
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// calculations for moving into opposite side
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static int calcfromopp(moveparam_t *x, double t){
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double Dx = fabs(x->coord - curparams.coord); // full distance
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double sign = (x->coord > curparams.coord) ? 1. : -1.; // sign of target accelerations and speeds
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// we have two variants: with or without stage with constant speed
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double dtdec = x->speed / Max.accel; // time of deceleration stage
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double dxacc = x->speed * dtdec; // distance on dec stage (abs)
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Times[0] = t;
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Params[0].accel = sign * Max.accel;
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Params[0].coord = curparams.coord;
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Params[0].speed = curparams.speed;
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double dt01 = (sign * x->speed - curparams.speed) / Params[0].accel; // time to reach target speed
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if(dt01 < 0){ DBG("WTF? Got dt01=%g", dt01); return FALSE; }
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double dx01 = curparams.speed * dt01 + Params[0].accel / 2. * dt01 * dt01; // distance on accel stage (signed)
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if(Dx > dxacc + fabs(dx01)){ // full stage
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;
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}else{ // short stage
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double absspeed0 = fabs(curparams.speed); // current speed abs val
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double timetozs = absspeed0 / Max.accel; // time to zero speed on acceleration stage
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double disttozs = absspeed0 * timetozs / 2.; // distance till zero speed
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if(disttozs > Dx){DBG("Need to stop more than have"); return FALSE;}
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double dxrem = Dx - disttozs; // remaining
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double maxspeed = sqrt(2. * Max.accel * dxrem);
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if(maxspeed < Min.speed) return FALSE;
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double fullremt = dxrem / maxspeed;
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Times[STAGE_MAXSPEED] = Times[STAGE_DECEL] = t + timetozs + fullremt / 2.;
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Times[STAGE_STOPPED] = Times[STAGE_DECEL] + fullremt / 2.;
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moveparam_t *p = &Params[STAGE_MAXSPEED];
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p->accel = 0.; p->speed = maxspeed * sign; p->coord = curparams.coord + (disttozs + dxrem / 2.) * sign;
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p = &Params[STAGE_DECEL];
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p->accel = -sign * Max.accel;
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p->coord = Params[STAGE_MAXSPEED].coord;
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p->speed = Params[STAGE_MAXSPEED].speed;
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p = &Params[STAGE_STOPPED];
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p->speed = 0.; p->accel = 0.; p->coord = x->coord;
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}
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}
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// calculations for moving from greater speed
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static int calcfromgs(moveparam_t *x, double t){
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;
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}
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// calculations from non-stopped state
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static int calcfrommove(moveparam_t *x, double t){
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double sign = (x->coord > curparams.coord) ? 1. : -1.; // signum of target accelerations and speeds
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double curspdsign = (curparams.speed > 0.) ? 1. : -1.;
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double absspeed = curparams.speed * sign; // abs speed value
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double dt = absspeed / Max.accel; // time to accelerate to current speed
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// check if target isn't too close for move in stopped mode
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double xacc = Max.accel * dt * dt / 2.; // acc/dec part
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double dx = absspeed * dt - xacc;
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double Dx = fabs(x->coord - curparams.coord); // total position shift
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if(dx > Dx) return FALSE; // can't reach target in normal moving mode
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if(Dx < coord_tolerance){
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if(state == ST_STOP) return TRUE;
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return FALSE; // can't immediatelly stop
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}
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if(x->speed < absspeed) return calcfromgs(x, t);
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if(sign * curspdsign > 0.){ // move into same side we are moving
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return calcfromstop(x, t-dt, curparams.coord - xacc*sign); // just think that we are moving from past
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}else{ // move into opposite side: here we can't use trick with "moving from past"
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return calcfromopp(x, t);
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}
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}
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/**
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* @brief calc - moving calculation
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* @param x - using max speed (>0!!!) and coordinate
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* @param t - current time value
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* @return FALSE if can't move with given parameters
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*/
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static int calc(moveparam_t *x, double t){
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if(!x) return FALSE;
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if(x->coord < Min.coord || x->coord > Max.coord) return FALSE;
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if(x->speed < Min.speed || x->speed > Max.speed) return FALSE;
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if(state == ST_STOP) return calcfromstop(x, t, curparams.coord);
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else return calcfrommove(x, t);
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}
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static movestate_t proc(moveparam_t *next, double t){
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if(state == ST_STOP) goto ret;
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for(movingstage_t s = STAGE_STOPPED; s >= 0; --s){
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if(Times[s] <= t){ // check time for current stage
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movingstage = s;
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break;
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}
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}
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if(movingstage == STAGE_STOPPED){
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curparams.coord = Params[STAGE_STOPPED].coord;
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emstop(t);
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goto ret;
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}
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// calculate current parameters
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double dt = t - Times[movingstage];
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double a = Params[movingstage].accel;
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double v0 = Params[movingstage].speed;
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double x0 = Params[movingstage].coord;
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curparams.accel = a;
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curparams.speed = v0 + a * dt;
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curparams.coord = x0 + v0 * dt + a * dt * dt / 2.;
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ret:
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if(next) *next = curparams;
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return state;
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}
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static movestate_t getst(moveparam_t *cur){
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if(cur) *cur = curparams;
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return state;
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}
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static double gettstop(){
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return Times[STAGE_STOPPED];
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}
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movemodel_t trapez = {
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.init_limits = initlims,
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.stop = stop,
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.emergency_stop = emstop,
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.get_state = getst,
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.calculate = calc,
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.proc_move = proc,
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.stoppedtime = gettstop,
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};
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@ -16,6 +16,7 @@
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <math.h>
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#include <stdio.h>
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#include <usefull_macros.h>
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#include <pthread.h>
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@ -57,7 +58,7 @@ static void* thread(void _U_ *u){
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//pthread_mutex_lock(&mutex);
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movestate_t curstate = model->get_state(NULL);
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moveparam_t curmove;
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if(curstate != ST_STOP && curstate != ST_ERROR){
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if(curstate == ST_MOVE){
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curstate = model->proc_move(&curmove, t);
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}
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//pthread_mutex_unlock(&mutex);
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@ -35,14 +35,11 @@ typedef enum{
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typedef enum{
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ST_STOP, // stopped
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ST_ACC, // accelerated
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ST_CONSTSPEED, // moving with constant speed
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ST_DEC, // decelerated
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ST_ERROR, // some error -> stop
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ST_MOVE, // moving
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ST_AMOUNT
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} movestate_t;
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typedef struct{
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typedef struct{ // all values could be both as positive and negative
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double coord;
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double speed;
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double accel;
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@ -59,10 +56,13 @@ typedef struct{
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int (*calculate)(moveparam_t *target, double t); // calculate stages of traectory beginning from t
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movestate_t (*proc_move)(moveparam_t *next, double t); // calculate next model point for time t
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movestate_t (*get_state)(moveparam_t *cur); // get current moving state
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void (*stop)(); // stop by ramp
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void (*emergency_stop); // stop with highest acceleration
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void (*stop)(double t); // stop by ramp
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void (*emergency_stop)(double t); // stop with highest acceleration
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double (*stoppedtime)(); // time when moving will ends
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} movemodel_t;
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extern double coord_tolerance;
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double nanot();
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movemodel_t *init_moving(ramptype_t type, limits_t *l);
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int init_coordtol(double tolerance);
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@ -1,10 +1,10 @@
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|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
|
||||
</valuemap>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
|
||||
@ -122,8 +122,8 @@
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
|
||||
@ -131,15 +131,15 @@
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
|
||||
<value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
|
||||
<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
|
||||
</valuemap>
|
||||
<value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
|
||||
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
|
||||
<value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
|
||||
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
|
||||
</valuemap>
|
||||
<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
|
||||
@ -153,6 +153,7 @@
|
||||
<value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
|
||||
<value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
|
||||
<value type="bool" key="Analyzer.Valgrind.ShowReachable">true</value>
|
||||
<value type="QList<int>" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
|
||||
<valuelist type="QVariantList" key="CustomOutputParsers"/>
|
||||
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user