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Implement calculating final time of movement commands

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This includes accelerations, jerks, proper joints, all that sort of thing.

Contributes to issue CURA-5561.
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Ghostkeeper 2018-09-05 11:04:43 +02:00
parent 515b286230
commit 4e7f8a268f
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1 changed files with 18 additions and 0 deletions
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18
50_inst_per_sec.py
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@ -70,6 +70,15 @@ def calc_acceleration_distance(init_speed: float, target_speed: float, accelerat
return 0.0
return (target_speed ** 2 - init_speed ** 2) / (2 * acceleration)
## Gives the time it needs to accelerate from an initial speed to reach a final
# distance.
def calc_acceleration_time_from_distance(initial_feedrate: float, distance: float, acceleration: float) -> float:
discriminant = initial_feedrate ** 2 - 2 * acceleration * -distance
#If the discriminant is negative, we're moving in the wrong direction.
#Making the discriminant 0 then gives the extremum of the parabola instead of the intersection.
discriminant = max(0, discriminant)
return (-initial_feedrate + math.sqrt(discriminant)) / acceleration
def calc_travel_time(p0, p1, init_speed: float, target_speed: float, acceleration: float) -> float:
pass
@ -473,6 +482,15 @@ class CommandBuffer:
current.calculate_trapezoid(current._entry_speed / current._nominal_feedrate, MINIMUM_PLANNER_SPEED / current._nominal_feedrate)
current._recalculate = False
#Fifth pass: Compute time for movement commands.
for cmd in self._all_commands:
if cmd.estimated_exec_time_in_ms >= 0:
continue #Not a movement command.
plateau_distance = cmd._decelerate_after - cmd._accelerate_until
cmd.estimated_exec_time_in_ms = calc_acceleration_time_from_distance(cmd._initial_feedrate, cmd._accelerate_until, cmd._acceleration)
cmd.estimated_exec_time_in_ms += plateau_distance / cmd._nominal_feedrate
cmd.estimated_exec_time_in_ms += calc_acceleration_time_from_distance(cmd._final_feedrate, (cmd._distancd - cmd._decelerate_after), cmd._acceleration)
for idx, cmd in enumerate(self._all_commands):
cmd_count += 1
if idx > cmd0_idx or idx == 0: