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kin_extruder: Convert pressure advance to use "weighted average"

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-12-14 10:30:25 -05:00
parent 54149e38f9
commit dabffcc22c
4 changed files with 66 additions and 27 deletions
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11
scripts/graph_extruder.py
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@ -67,13 +67,16 @@ def calc_pa_raw(t, positions):
i = time_to_index(t)
return positions[i] + pa * (positions[i+1] - positions[i])
def calc_pa_smooth(t, positions):
def calc_pa_weighted(t, positions):
base_index = time_to_index(t)
start_index = time_to_index(t - PA_HALF_SMOOTH_T) + 1
end_index = time_to_index(t + PA_HALF_SMOOTH_T)
diff = .5 * (end_index - start_index)
pa = PRESSURE_ADVANCE * INV_SEG_TIME
pa_data = [positions[i] + pa * (positions[i+1] - positions[i])
pa_data = [(positions[i] + pa * (positions[i+1] - positions[i]))
* (diff - abs(i-base_index))
for i in range(start_index, end_index)]
return sum(pa_data) / (end_index - start_index)
return sum(pa_data) / diff**2
######################################################################
@ -92,7 +95,7 @@ def plot_motion():
pa_positions = [calc_pa_raw(t, positions) for t in times]
pa_velocities = gen_deriv(pa_positions)
# Smoothed motion
sm_positions = [calc_pa_smooth(t, positions) for t in times]
sm_positions = [calc_pa_weighted(t, positions) for t in times]
sm_velocities = gen_deriv(sm_positions)
# Build plot
shift_times = [t - MARGIN_TIME for t in times]