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Implement the rest of the initial time estimation

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This doesn't complete this task yet because we are still not outputting a correct time estimation for these commands. We're not outputting anything at all actually. We now need to implement the second pass (but only for G1 and G0).

Contributes to issue CURA-5561.
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Ghostkeeper 2018-09-04 16:38:50 +02:00
parent 1037b09188
commit dcbe832d9f
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1 changed files with 33 additions and 1 deletions
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34
50_inst_per_sec.py
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@ -14,6 +14,7 @@ from typing import Dict, List, Optional, Tuple
# ====================================
DEFAULT_BUFFER_FILLING_RATE_IN_C_PER_MS = 50.0 / 1000.0 # The buffer filling rate in #commands/ms
DEFAULT_BUFFER_SIZE = 15 # The buffer size in #commands
MINIMUM_PLANNER_SPEED = 0.05
#Setting values for Ultimaker S5.
MACHINE_MAX_FEEDRATE_X = 300
@ -86,6 +87,12 @@ def calc_intersection_distance(initial_feedrate: float, final_feedrate: float, a
return 0
return (2 * acceleration * distance - initial_feedrate * initial_feedrate + final_feedrate * final_feedrate) / (4 * acceleration)
## Calculates the maximum speed that is allowed at this point when you must be
# able to reach target_velocity using the acceleration within the allotted
# distance.
def calc_max_allowable_speed(acceleration: float, target_velocity: float, distance: float) -> float:
return math.sqrt(target_velocity * target_velocity - 2 * acceleration * distance)
class Command:
def __init__(self, cmd_str: str) -> None:
self._cmd_str = cmd_str # type: str
@ -251,7 +258,28 @@ class Command:
vmax_junction = min(vmax_junction, self._nominal_feedrate)
safe_speed = vmax_junction
#TODO: Compute junction maximum speed factor and apply this to entry speed, set flags and calculate trapezoid.
if buf.previous_nominal_feedrate > 0.0001:
xy_jerk = math.sqrt((current_feedrate[0] - buf.previous_feedrate[0]) ** 2 + (current_feedrate[1] - buf.previous_feedrate[1]) ** 2)
vmax_junction = self._nominal_feedrate
if xy_jerk > MACHINE_MAX_JERK_XY:
vmax_junction_factor = MACHINE_MAX_JERK_XY / xy_jerk
if abs(current_feedrate[2] - buf.previous_feedrate[2]) > MACHINE_MAX_JERK_Z:
vmax_junction_factor = min(vmax_junction_factor, (MACHINE_MAX_JERK_Z / abs(current_feedrate[2] - buf.previous_feedrate[2])))
if abs(current_feedrate[3] - buf.previous_feedrate[3]) > MACHINE_MAX_JERK_E:
vmax_junction_factor = min(vmax_junction_factor, (MACHINE_MAX_JERK_E / abs(current_feedrate[3] - buf.previous_feedrate[3])))
vmax_junction = min(buf.previous_nominal_feedrate, vmax_junction * vmax_junction_factor) #Limit speed to max previous speed.
self._max_entry_speed = vmax_junction
v_allowable = calc_max_allowable_speed(-self._acceleration, MINIMUM_PLANNER_SPEED, self._distance)
self._entry_speed = min(vmax_junction, v_allowable)
self._nominal_length = self._nominal_feedrate <= v_allowable
self._recalculate = True
buf.previous_feedrate = current_feedrate
buf.previous_nominal_feedrate = self._nominal_feedrate
buf.current_position = new_position
self.calculate_trapezoid(self._entry_speed / self._nominal_feedrate, safe_speed / self._nominal_feedrate)
travel_time_in_ms = distance / (self._nominal_feedrate / 60.0) * 1000.0
@ -389,6 +417,10 @@ class CommandBuffer:
self._detection_time_frame = lower_bound_buffer_depletion_time
self._code_count_limit = self._buffer_size
self.previous_feedrate = [0, 0, 0, 0]
self.previous_nominal_feedrate = 0
print("Time Frame: %s" % self._detection_time_frame)
print("Code Limit: %s" % self._code_count_limit)