From 0885beb81ca32e30e996e7bc009bc951ecc62a2a Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 30 Oct 2019 09:31:06 -0400
Subject: [PATCH] near refactor for periods
---
hunks/adhoc/saturn.js | 238 ++++++++++++++++++++++++++++--------------
1 file changed, 160 insertions(+), 78 deletions(-)
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 22cc0bb..524ad12 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -112,8 +112,8 @@ export default function Saturn() {
// to calculate the maximum entrance, given our exit, to make within one period of time:
// let t = 2 * d / (speeds[i] + speeds[i + 1]) // current t ...
- // v2, where t = period
- let maxEntranceByPeriod = period / (2 * d) - speeds[i]
+ // v2, where t = period (1.5 is a safety factor for later rounding)
+ let maxEntranceByPeriod = (period * 1.5) / (2 * d) - speeds[i]
// set the entrance speed to the min of JD or our Max Entrance, but no lower than the minspeed
let max = Math.max(minSpeed, Math.min(speeds[i], maxEntranceByAccel, maxEntranceByPeriod))
@@ -166,9 +166,8 @@ export default function Saturn() {
if (debug) console.log(`entrance speed is ${vi}`)
if (debug) console.log(`exit speed is ${vf}`)
if (debug) console.log(`d is ${d}, maxEntry ${maxEntry}, maxExit ${maxExit}`)
- // big switch
- if (maxExit <= vf) {
- if (debug) console.log(`/`)
+ // these are common and useful:
+ let writeUpTick = () => {
ramps.push({
vi: vi,
vf: vf,
@@ -176,9 +175,8 @@ export default function Saturn() {
pi: pi,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
- } else if (maxEntry <= vi) {
- if (debug) console.log('\\')
+ }
+ let writeDownTick = () => {
ramps.push({
vi: vi,
vf: vf,
@@ -186,8 +184,20 @@ export default function Saturn() {
pi: pi,
pf: pf
})
+ }
+ // big switch
+ if (maxExit <= vf) {
+ // the all-up and all-down segments should always be clear:
+ // since we already swept for these cases in the revpass
+ if (debug) console.log(`/`)
+ writeUpTick()
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ } else if (maxEntry <= vi) {
+ if (debug) console.log('\\')
+ writeDownTick()
if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
} else if (vi === cruise && vf === cruise) {
+ // similarely, since we're not segmenting cruise any farther, it should also be OK
if (debug) console.log('--')
ramps.push({
vi: vi,
@@ -201,100 +211,172 @@ export default function Saturn() {
if (debug) console.log('--\\')
let dcDist = (Math.pow(cruise, 2) - Math.pow(vf, 2)) / (2 * accel)
let pInter = math.add(pf, vScalar(vUnitBetween(pf, pi), dcDist))
- // seg1
- ramps.push({
- vi: vi,
- vf: cruise,
- t: (d - dcDist) / cruise,
- pi: pi,
- pf: pInter
- })
- if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
- // seg 2,
- ramps.push({
- vi: cruise,
- vf: vf,
- t: (cruise - vf) / accel,
- pi: pInter,
- pf: pf
- })
- if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
- } else if (vf === cruise) {
- if (debug) console.log('/--')
- let acDist = (Math.pow(cruise, 2) - Math.pow(vi, 2)) / (2 * accel)
- let pInter = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
- // seg1
- ramps.push({
- vi: vi,
- vf: cruise,
- t: (cruise - vi) / accel,
- pi: pi,
- pf: pInter
- })
- if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
- // seg2
- ramps.push({
- vi: cruise,
- vf: vf,
- t: (d - acDist) / cruise,
- pi: pInter,
- pf: pf
- })
- if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
- } else {
- let dcDist = (Math.pow(cruise, 2) - Math.pow(vf, 2)) / (2 * accel)
- let acDist = (Math.pow(cruise, 2) - Math.pow(vi, 2)) / (2 * accel)
- if (acDist + dcDist < d) {
- if (debug) console.log('/--\\')
- let pa = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
- let pb = math.add(pf, vScalar(vUnitBetween(pf, pi), dcDist))
- // 3 segs
+ // now, we need to tune accel / cruise phases so that neither t is < 1 period
+ let tSeg1 = (d - dcDist) / cruise
+ let tSeg2 = (cruise - vf) / accel
+ if(tSeg1 < period || tSeg2 < period){
+ // hopeless, write downtick
+ // there are other options here: adjust one to suit other, but we're not here for it
+ // and in these cases, the small segments, being small, can just get washed into a big ramp, ok
+ writeDownTick()
+ } else {
+ // and if we can't do that, we backtrack to '\\' type
+ // seg1
ramps.push({
vi: vi,
vf: cruise,
- t: (cruise - vi) / accel,
+ t: tSeg1,
pi: pi,
- pf: pa
- })
- if (ramps[ramps.length - 1].t < period) console.warn('trouble seg1/3', ramps[ramps.length - 1])
- ramps.push({
- vi: cruise,
- vf: cruise,
- t: (d - acDist - dcDist) / cruise,
- pi: pa,
- pf: pb
+ pf: pInter
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble seg2/3', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ // seg 2,
ramps.push({
vi: cruise,
vf: vf,
- t: (cruise - vf) / accel,
- pi: pb,
+ t: tSeg2,
+ pi: pInter,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble seg3/3', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ }
+ } else if (vf === cruise) {
+ if (debug) console.log('/--')
+ let acDist = (Math.pow(cruise, 2) - Math.pow(vi, 2)) / (2 * accel)
+ let pInter = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
+ // I feel the same about this as I did above
+ let tSeg1 = (cruise - vi) / accel
+ let tSeg2 = (d - acDist) / cruise
+ if(tSeg1 < period || tSeg2 < period){
+ writeDownTick()
} else {
- if (debug) console.log('/\\')
- let vPeak = Math.sqrt(((2 * accel * d + Math.pow(vi, 2) + Math.pow(vf, 2)) / 2))
- let acDist = (Math.pow(vPeak, 2) - Math.pow(vi, 2)) / (2 * accel)
- let pInter = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
+ // seg1
ramps.push({
vi: vi,
- vf: vPeak,
- t: (vPeak - vi) / accel,
+ vf: cruise,
+ t: tSeg1,
pi: pi,
pf: pInter
})
if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ // seg2
ramps.push({
- vi: vPeak,
+ vi: cruise,
vf: vf,
- t: (vPeak - vf) / accel,
+ t: tSeg2,
pi: pInter,
pf: pf
})
if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
}
+ } else {
+ let dcDist = (Math.pow(cruise, 2) - Math.pow(vf, 2)) / (2 * accel)
+ let acDist = (Math.pow(cruise, 2) - Math.pow(vi, 2)) / (2 * accel)
+ let writeTriangle = () => {
+ if (debug) console.log('/\\')
+ let vPeak = Math.sqrt(((2 * accel * d + Math.pow(vi, 2) + Math.pow(vf, 2)) / 2))
+ let acDist = (Math.pow(vPeak, 2) - Math.pow(vi, 2)) / (2 * accel)
+ let pInter = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
+ // finally, we have to check here if either / or side is too small, then default to smallticks
+ let tSeg1 = (vPeak - vi) / accel
+ let tSeg2 = (vPeak - vf) / accel
+ if(tSeg1 < period || tSeg2 < period){
+ // bail hard,
+ if(vf > vi){
+ writeUpTick()
+ } else {
+ writeDownTick()
+ }
+ } else {
+ ramps.push({
+ vi: vi,
+ vf: vPeak,
+ t: tSeg1,
+ pi: pi,
+ pf: pInter
+ })
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ ramps.push({
+ vi: vPeak,
+ vf: vf,
+ t: tSeg2,
+ pi: pInter,
+ pf: pf
+ })
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ }
+ }
+ if (acDist + dcDist < d) {
+ if (debug) console.log('/--\\')
+ let pa = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
+ let pb = math.add(pf, vScalar(vUnitBetween(pf, pi), dcDist))
+ // ok,
+ let tSeg1 = (cruise - vi) / accel
+ let tSeg2 = (d - acDist - dcDist) / cruise
+ let tSeg3 = (cruise - vf) / accel
+ if(tSeg2 < period){
+ // for this case, contencating into a triangle is fine... it will be within ~ 50ms of extra accel time: not much
+ writeTriangle()
+ } else if (tSeg1 < period && tSeg3 < period){
+ // contencate to slow-up or slow-down
+ if(vf > vi){
+ writeUpTick()
+ } else {
+ writeDownTick()
+ }
+ } else if (tSeg1 < period){
+ // write slow-triangle up to pb,
+ // HERE
+ // and last seg. as normal
+ ramps.push({
+ vi: cruise,
+ vf: vf,
+ t: tSeg3,
+ pi: pb,
+ pf: pf
+ })
+ } else if (tSeg3 < period){
+ // write first seg as normal,
+ ramps.push({
+ vi: vi,
+ vf: cruise,
+ t: tSeg1,
+ pi: pi,
+ pf: pa
+ })
+ // second as slow-loss from pa -> vf
+ // HERE
+ } else {
+ // 3 segs
+ ramps.push({
+ vi: vi,
+ vf: cruise,
+ t: tSeg1,
+ pi: pi,
+ pf: pa
+ })
+ if (ramps[ramps.length - 1].t < period) console.warn('trouble seg1/3', ramps[ramps.length - 1])
+ ramps.push({
+ vi: cruise,
+ vf: cruise,
+ t: tSeg2,
+ pi: pa,
+ pf: pb
+ })
+ if (ramps[ramps.length - 1].t < period) console.warn('trouble seg2/3', ramps[ramps.length - 1])
+ ramps.push({
+ vi: cruise,
+ vf: vf,
+ t: tSeg3,
+ pi: pb,
+ pf: pf
+ })
+ if (ramps[ramps.length - 1].t < period) console.warn('trouble seg3/3', ramps[ramps.length - 1])
+ }
+ } else {
+ // the actual triangle case
+ writeTriangle()
+ }
} // end BIGSWITCH
} // end for-over-positions
return ramps
--
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