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* trapq: Limit the duration of "null" sentinal moves on the trapqKevin O'Connor2019-12-201-1/+7
| | | | | | | | | If a null move is added as the first move on the trapezoid motion queue then it could have a very large move->move_t value. This could cause numerical stability issues with some advanced kinematic formulas. Place a limit on the move_t value to avoid this. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* kin_extruder: Move integration code from trapq.c to kin_extruder.cKevin O'Connor2019-12-081-65/+0
| | | | | | | Move the code that calculates the definitive integral to the kin_extruder.c file. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Add trapq_find_move() functionKevin O'Connor2019-11-211-0/+21
| | | | | | | Add support for finding a move by time in the trapezoidal velocity move list. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Add code to calculate definitive integralKevin O'Connor2019-11-211-0/+44
| | | | | | | Support calculating the definitive integral of a cartesian axis position over a time range of the movement queue. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Implement sentinel nodes on the trapq listKevin O'Connor2019-11-211-3/+45
| | | | | | | Use sentinels to make list traversal code simpler. Also add in null moves so that there are no time gaps in the list. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Use C99 method for declaring struct members in trapq_append()Kevin O'Connor2019-11-071-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Calculate and store axes_r in move classKevin O'Connor2019-11-061-11/+3
| | | | | | | | Calculate the ratio of axis distance to total move distance (axis_d / move_d) and store in a new member variable axes_r. This avoids needing to recalculate the value in other code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Use separate 'move' entries for accel, cruise, and decel phasesKevin O'Connor2019-11-061-41/+43
| | | | | | | | Only track a single acceleration movement in a 'struct move' instance. Break the classic trapezoid movement (accel, cruise, decel) into three separate movements. This simplifies the calculation logic. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Remove move_fill()Kevin O'Connor2019-11-061-11/+13
| | | | | | | Now that all callers use the trapq system to queue moves, it is no longer necessary to individually allocate and fill a 'struct move'. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Initial support for building a queue of trapezoidal velocity movesKevin O'Connor2019-11-061-0/+46
| | | | | | | | Add support for building a list of moves in the trapq.c code. Update the toolhead code so that moves generated from the look-ahead code are added to that list. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* trapq: Add new trapq.c file with code for trapezoidal velocity handlingKevin O'Connor2019-11-061-0/+87
Move the "struct move" code from itersolve.c to new file trapq.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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