diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-10-25 12:31:02 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-10-25 12:31:02 +0300 |
| commit | 3c93fb2137e785e6660f5b5c13b49746ce322e08 (patch) | |
| tree | e403cab2f322f5117a3a54cac8bf3799259fa76d /src/Movement | |
| parent | af4c424a01b73a7bb4ad9b2e9ebdf1f6172990bb (diff) | |
Added ZVDD input shaping
Diffstat (limited to 'src/Movement')
| -rw-r--r-- | src/Movement/AxisShaper.cpp | 13 | ||||
| -rw-r--r-- | src/Movement/AxisShaper.h | 1 |
2 files changed, 14 insertions, 0 deletions
diff --git a/src/Movement/AxisShaper.cpp b/src/Movement/AxisShaper.cpp index f7dc64b9..55de9ad0 100644 --- a/src/Movement/AxisShaper.cpp +++ b/src/Movement/AxisShaper.cpp @@ -210,6 +210,18 @@ GCodeResult AxisShaper::Configure(GCodeBuffer& gb, const StringRef& reply) THROW numExtraImpulses = 3; break; + case InputShaperType::zvddd: + { + const float j = fsquare(fsquare(1.0 + k)); + coefficients[0] = 1.0/j; + coefficients[1] = coefficients[0] + 4.0 * k/j; + coefficients[2] = coefficients[1] + 6.0 * fsquare(k)/j; + coefficients[3] = coefficients[2] + 4.0 * fcube(k)/j; + } + durations[0] = durations[1] = durations[2] = durations[3] = 0.5 * dampedPeriod; + numExtraImpulses = 4; + break; + case InputShaperType::ei2: // see http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.465.1337&rep=rep1&type=pdf. United States patent #4,916,635. { const float zetaSquared = fsquare(zeta); @@ -491,6 +503,7 @@ void AxisShaper::PlanShaping(DDA& dda, PrepParams& params, bool shapingEnabled) case InputShaperType::zvd: case InputShaperType::mzv: case InputShaperType::zvdd: + case InputShaperType::zvddd: case InputShaperType::ei2: case InputShaperType::ei3: params.SetFromDDA(dda); // set up the provisional parameters diff --git a/src/Movement/AxisShaper.h b/src/Movement/AxisShaper.h index 18ee9e02..d4740a5f 100644 --- a/src/Movement/AxisShaper.h +++ b/src/Movement/AxisShaper.h @@ -27,6 +27,7 @@ NamedEnum(InputShaperType, uint8_t, none, zvd, zvdd, + zvddd, ); class DDA; |