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/*
* InputShaper.h
*
* Created on: 20 Feb 2021
* Author: David
*/
#ifndef SRC_MOVEMENT_AXISSHAPER_H_
#define SRC_MOVEMENT_AXISSHAPER_H_
#define SUPPORT_DAA (0)
#include <RepRapFirmware.h>
#include <General/NamedEnum.h>
#include <ObjectModel/ObjectModel.h>
#include "InputShaperPlan.h"
// These names must be in alphabetical order and lowercase
NamedEnum(InputShaperType, uint8_t,
custom,
#if SUPPORT_DAA
daa,
#endif
ei2,
ei3,
mzv,
none,
zvd,
zvdd,
zvddd,
);
class DDA;
class PrepParams;
class MoveSegment;
class AxisShaper INHERIT_OBJECT_MODEL
{
public:
AxisShaper() noexcept;
float GetFrequency() const noexcept { return frequency; }
float GetDamping() const noexcept { return zeta; }
InputShaperType GetType() const noexcept { return type; }
void PlanShaping(DDA& dda, PrepParams& params, bool shapingEnabled) const noexcept;
GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException); // process M593
static MoveSegment *GetUnshapedSegments(DDA& dda, const PrepParams& params) noexcept;
protected:
DECLARE_OBJECT_MODEL
OBJECT_MODEL_ARRAY(amplitudes)
OBJECT_MODEL_ARRAY(durations)
private:
MoveSegment *GetAccelerationSegments(const DDA& dda, PrepParams& params) const noexcept;
MoveSegment *GetDecelerationSegments(const DDA& dda, PrepParams& params) const noexcept;
MoveSegment *FinishShapedSegments(const DDA& dda, const PrepParams& params, MoveSegment *accelSegs, MoveSegment *decelSegs) const noexcept;
float GetExtraAccelStartDistance(float startSpeed, float acceleration) const noexcept;
float GetExtraAccelEndDistance(float topSpeed, float acceleration) const noexcept;
float GetExtraDecelStartDistance(float topSpeed, float deceleration) const noexcept;
float GetExtraDecelEndDistance(float endSpeed, float deceleration) const noexcept;
void TryShapeAccelEnd(const DDA& dda, PrepParams& params) const noexcept;
void TryShapeAccelBoth(DDA& dda, PrepParams& params) const noexcept;
void TryShapeDecelStart(const DDA& dda, PrepParams& params) const noexcept;
void TryShapeDecelBoth(DDA& dda, PrepParams& params) const noexcept;
bool ImplementAccelShaping(const DDA& dda, PrepParams& params, float newAccelDistance, float newAccelClocks) const noexcept;
bool ImplementDecelShaping(const DDA& dda, PrepParams& params, float newDecelStartDistance, float newDecelClocks) const noexcept;
static constexpr unsigned int MaxExtraImpulses = 4;
static constexpr float DefaultFrequency = 40.0;
static constexpr float DefaultDamping = 0.1;
static constexpr float DefaultMinimumAcceleration = 10.0;
static constexpr float MinimumMiddleSegmentTime = 5.0/1000.0; // minimum length of the segment between shaped start and shaped end of an acceleration or deceleration
unsigned int numExtraImpulses; // the number of extra impulses
float frequency; // the undamped frequency in Hz
float zeta; // the damping ratio, see https://en.wikipedia.org/wiki/Damping. 0 = undamped, 1 = critically damped.
float minimumAcceleration; // the minimum value that we reduce average acceleration to in mm/sec^2
float coefficients[MaxExtraImpulses]; // the coefficients of all the impulses
float durations[MaxExtraImpulses]; // the duration in step clocks of each impulse
float totalShapingClocks; // the total input shaping time in step clocks
float minimumShapingStartOriginalClocks; // the minimum acceleration/deceleration time for which we can shape the start, without changing the acceleration/deceleration
float minimumShapingEndOriginalClocks; // the minimum acceleration/deceleration time for which we can shape the start, without changing the acceleration/deceleration
float minimumNonOverlappedOriginalClocks; // the minimum original acceleration or deceleration time using non-overlapped start and end shaping
float extraClocksAtStart; // the extra time needed to shape the start of acceleration or deceleration
float extraClocksAtEnd; // the extra time needed to shape the end of acceleration or deceleration
float extraDistanceAtStart; // the extra distance per unit acceleration to shape the start of acceleration or deceleration, less the initial velocity contribution
float extraDistanceAtEnd; // the extra distance per unit acceleration to shape the end of acceleration or deceleration, less the final velocity contribution
float overlappedDurations[2 * MaxExtraImpulses]; // the duration in step clocks of each impulse of an overlapped acceleration or deceleration
float overlappedCoefficients[2 * MaxExtraImpulses]; // the coefficients if we use a shaped start immediately followed by a shaped end
float overlappedShapingClocks; // the acceleration or deceleration duration when we use overlapping, in step clocks
float overlappedDeltaVPerA; // the effective acceleration time (velocity change per unit acceleration) when we use overlapping, in step clocks
float overlappedDistancePerA; // the distance needed by an overlapped acceleration or deceleration, less the initial velocity contribution
InputShaperType type;
};
#endif /* SRC_MOVEMENT_AXISSHAPER_H_ */
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