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| author | Robert W. Ellenberg <rwe24g@gmail.com> | 2013-11-08 05:18:51 -0500 |
|---|---|---|
| committer | Chris Radek <chris@timeguy.com> | 2014-06-11 14:43:37 -0500 |
| commit | 39a8f5850f854d8bf8699ba8ceb7fcea5f176b3a (patch) | |
| tree | 8177437cea578e10a4389e530bb443a2555ed782 | |
| parent | abe3dd4fd104bf14cdc42e9751fde50da73e23a5 (diff) | |
| download | linuxcnc-39a8f5850f854d8bf8699ba8ceb7fcea5f176b3a.tar.gz linuxcnc-39a8f5850f854d8bf8699ba8ceb7fcea5f176b3a.zip | |
Added extra check in blend velocity calculation
Works with simple rapid test, because we're not falling back to
parabolic blends. Something is still wrong with the refactored parabolic
blends, though. Next step is to force a failure every time. We should be
able to fall back, but currently that may not be working.
| -rw-r--r-- | nc_files/blend_tests/g0_corners.ngc | 9 | ||||
| -rw-r--r-- | src/emc/kinematics/tp.c | 10 |
2 files changed, 16 insertions, 3 deletions
diff --git a/nc_files/blend_tests/g0_corners.ngc b/nc_files/blend_tests/g0_corners.ngc new file mode 100644 index 000000000..49184b8de --- /dev/null +++ b/nc_files/blend_tests/g0_corners.ngc @@ -0,0 +1,9 @@ +G20 G90 G64 + +G0 X0 Y0 Z0 +G1 X1 F30 +G0 Z.1 +G0 X2 Y1 +G0 Z0 +G1 X1 F30 +M2 diff --git a/src/emc/kinematics/tp.c b/src/emc/kinematics/tp.c index 1ac793531..89ccbe6b7 100644 --- a/src/emc/kinematics/tp.c +++ b/src/emc/kinematics/tp.c @@ -1278,11 +1278,15 @@ STATIC void tpCheckOvershoot(TC_STRUCT * const tc, TC_STRUCT * const nexttc, Emc */ STATIC double tpComputeBlendVelocity(TP_STRUCT const * const tp, TC_STRUCT const * const tc, TC_STRUCT const * const nexttc) { - //Store local blend velocity copy - double blend_vel=tc->blend_vel; + double blend_vel; + double v_peak_this; + double v_peak_next; if(nexttc && nexttc->maxaccel) { - blend_vel = pmSqrt(nexttc->target * nexttc->maxaccel); + v_peak_this = pmSqrt(tc->target * tc->maxaccel); + v_peak_next = pmSqrt(nexttc->target * nexttc->maxaccel); + blend_vel=fmin(v_peak_this,v_peak_next); + if(blend_vel > tpGetReqVel(tp,nexttc)) { // segment has a cruise phase so let's blend over the // whole accel period if possible |