diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 276a52f831bbea89512115f504fdbb3919849208..22cc0bb4d784097d6852b0a53b516def423f3a0b 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -52,10 +52,10 @@ export default function Saturn() {
// settings,
let deviation = 0.1 // virtual radius to junction about
let accel = 10 // units/s/s
- let minSpeed = 0.333 // conspicuous, to debug for tails (indexing)
+ let minSpeed = 0.01 // conspicuous, to debug for tails (indexing)
// current states,
- let feed = 10 // target, (units/s)
+ let cruise = 10 // target, (units/s)
let speed = minSpeed // currently
let posUpdated = false
@@ -91,25 +91,12 @@ export default function Saturn() {
// walk for minspeeds
for (let s in speeds) {
if (speeds[s] < minSpeed) speeds[s] = minSpeed
- if (speeds[s] > feed) speeds[s] = feed
+ if (speeds[s] > cruise) speeds[s] = cruise
}
// that's it for us
return speeds
}
- let PeriodPass = (speeds, debug) => {
- for (let i = positions.length - 2; i > 0; i--) {
- let d = vLen(math.subtract(positions[i + 1], positions[i]))
- let sLimit = d / (period * 3)
- if(debug) console.log('mgp', sLimit)
- if(sLimit < speeds[i] || sLimit < speeds[i + 1]){
- speeds[i] = sLimit / 2
- speeds[i + 1] = sLimit / 2
- if(debug) console.warn('bad small boy at', i)
- }
- }
- }
-
let ReversePass = (speeds, debug) => {
// link, walking back from last
// this makes sure we can completely decelerate, through moves, to the last point at zero
@@ -117,12 +104,19 @@ export default function Saturn() {
if (debug) console.log(`reverse pass for ${i}\n`, positions[i], positions[i + 1])
if (debug) console.log(`current entrance to calculate is`, speeds[i])
if (debug) console.log(`the constraining exit is`, speeds[i + 1])
- // given the constraing exit, how fast could we possibly start the block?
+
+ // to calcluate the maximum entrance, given our exit, with pure acceleration:
let d = vLen(math.subtract(positions[i + 1], positions[i]))
// with given period, how fast can we possibly go in one period? for small moves this is constraining
- let maxEntrance = Math.sqrt(Math.pow(speeds[i + 1], 2) + 2 * accel * d)
+ let maxEntranceByAccel = Math.sqrt(Math.pow(speeds[i + 1], 2) + 2 * accel * d)
+
+ // 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]
+
// 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], maxEntrance))
+ let max = Math.max(minSpeed, Math.min(speeds[i], maxEntranceByAccel, maxEntranceByPeriod))
// just for logging
let temp = speeds[i]
// stay safe w/ current state at zero
@@ -164,7 +158,7 @@ export default function Saturn() {
let pi = positions[i]
let pf = positions[i + 1]
let vi = speeds[i]
- if (vi > feed) console.warn(`vi at ${i} > feed during RampPass`)
+ if (vi > cruise) console.warn(`vi at ${i} > cruise during RampPass`)
let vf = speeds[i + 1]
let d = vLen(math.subtract(positions[i + 1], positions[i]))
let maxEntry = Math.sqrt(Math.pow(speeds[i + 1], 2) + 2 * accel * d)
@@ -182,7 +176,7 @@ export default function Saturn() {
pi: pi,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
+ 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('\\')
ramps.push({
@@ -192,8 +186,8 @@ export default function Saturn() {
pi: pi,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
- } else if (vi === feed && vf === feed) {
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ } else if (vi === cruise && vf === cruise) {
if (debug) console.log('--')
ramps.push({
vi: vi,
@@ -202,54 +196,54 @@ export default function Saturn() {
pi: pi,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
- } else if (vi === feed) {
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
+ } else if (vi === cruise) {
if (debug) console.log('--\\')
- let dcDist = (Math.pow(feed, 2) - Math.pow(vf, 2)) / (2 * accel)
+ 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: feed,
- t: (d - dcDist) / feed,
+ vf: cruise,
+ t: (d - dcDist) / cruise,
pi: pi,
pf: pInter
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', 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: feed,
+ vi: cruise,
vf: vf,
- t: (feed - vf) / accel,
+ t: (cruise - vf) / accel,
pi: pInter,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
- } else if (vf === feed) {
+ 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(feed, 2) - Math.pow(vi, 2)) / (2 * accel)
+ 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: feed,
- t: (feed - vi) / accel,
+ vf: cruise,
+ t: (cruise - vi) / accel,
pi: pi,
pf: pInter
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
// seg2
ramps.push({
- vi: feed,
+ vi: cruise,
vf: vf,
- t: (d - acDist) / feed,
+ t: (d - acDist) / cruise,
pi: pInter,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
} else {
- let dcDist = (Math.pow(feed, 2) - Math.pow(vf, 2)) / (2 * accel)
- let acDist = (Math.pow(feed, 2) - Math.pow(vi, 2)) / (2 * accel)
+ 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))
@@ -257,24 +251,24 @@ export default function Saturn() {
// 3 segs
ramps.push({
vi: vi,
- vf: feed,
- t: (feed - vi) / accel,
+ vf: cruise,
+ t: (cruise - vi) / accel,
pi: pi,
pf: pa
})
if (ramps[ramps.length - 1].t < period) console.warn('trouble seg1/3', ramps[ramps.length - 1])
ramps.push({
- vi: feed,
- vf: feed,
- t: (d - acDist - dcDist) / feed,
+ vi: cruise,
+ vf: cruise,
+ t: (d - acDist - dcDist) / cruise,
pi: pa,
pf: pb
})
if (ramps[ramps.length - 1].t < period) console.warn('trouble seg2/3', ramps[ramps.length - 1])
ramps.push({
- vi: feed,
+ vi: cruise,
vf: vf,
- t: (feed - vf) / accel,
+ t: (cruise - vf) / accel,
pi: pb,
pf: pf
})
@@ -291,7 +285,7 @@ export default function Saturn() {
pi: pi,
pf: pInter
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
ramps.push({
vi: vPeak,
vf: vf,
@@ -299,7 +293,7 @@ export default function Saturn() {
pi: pInter,
pf: pf
})
- if (ramps[ramps.length - 1].t < period) console.warn('trouble', ramps[ramps.length - 1])
+ if (ramps[ramps.length - 1].t < period) console.warn('RampPass generates too-short ramp:', ramps[ramps.length - 1])
}
} // end BIGSWITCH
} // end for-over-positions
@@ -320,7 +314,7 @@ export default function Saturn() {
// easy increment is just this vector * rate / period
let timeSeg = [0, 0, 0]
timeSeg.forEach((axis, i) => {
- timeSeg[i] = vect[i] * (feed / period)
+ timeSeg[i] = vect[i] * (cruise / period)
})
// now, is this a step-over ? some fast-slow-math for this:
let np = vSum(position, timeSeg)
@@ -356,60 +350,37 @@ export default function Saturn() {
// first we get all move final v's by jd:
// we jd,
if (positions.length > 63) {
- // at the moment, for jd, we'll assume positions[0] is our current position.
- // we should time this...
+ // ok, here's the lookahead routine:
console.time('lookahead')
- // we can incorporate this update when we rewrite the loop accordingly
+ // positions[] is global, speeds is generated now
+ // speed[0], matching positions[0], are our current situations
let speeds = [speed]
+ // JD runs an algorithm that calculates maximum allowable
+ // instantaneous accelerations at corners
JD(speeds)
- //console.log('jd writes speeds', speeds)
- //console.log(`have ${speeds.length} speeds and ${positions.length} positions`)
- PeriodPass(speeds, true)
- // now we need to link these together,
+ // we occasionally (rather, often) need to start decelerating (or accelerating) a few segments before
+ // the actual constraint: these passes link segments to one another by ensuring that a pass through
+ // the whole path does not require any accelerations outside of our range.
+ // the reversepass also sets minimum speeds such that we don't find any moves impossible to execute
+ // within one network period
ReversePass(speeds)
ForwardPass(speeds)
- // check about our minperiod issue,
-
- // are any of these non-permissible?
console.timeLog('lookahead')
- // that's kinda tough (25ms), means we need some double-loop action (can't do this every time segmment)
- // now that we have this, we need to break it into motion packets
- // have 'ideal' entrance / exit speeds,
-
- // ah: yes - ok, we can now write this thing that will return a list of positions, speeds that's
- // inside of single-slope segments: i.e. have a start velocity, end velocity, and distance.
- // then we can do another pass through to adjust these times to suit our period. ok.
+ // now have allowable maximum speeds at the junctions - the corners - between segments
+ // but we still need to consider how much acceleration we can do in between these minimum speeds
+ // i.e. we will now generate the individual accel- deccel- and cruise phases of each segment
+ // *now* since we are operating on a period basis, we also tune these segments such that
+ // (1) none are smaller than one period of time and (2) all take some integer division of periods to complete
let ramps = RampPass(speeds)
+ // now we're done,
console.timeLog('lookahead')
console.log(`have ${ramps.length} ramps for ${positions.length} positions`)
let debug = false
- for(let i = 0; i < ramps.length; i ++){
- // try a forward walk through these things. adjust so that distance is equal for each,
- let r = ramps[i]
- // first, given current d, entrance and exit speeds, the time:
- let d = vDist(r.pi, r.pf)
- let t = 2 * d / (r.vi + r.vf)
- // round to some degree, but not to zero...
- let count = t / period
- let integer = Math.round(count)
- if(integer < 1){
- console.warn(`small ramp at ${i}`, r)
- integer = 1
- }
- // so, given vi, want to decrease vf such that t = this period,
- let nt = t * (integer / count)
- let nvf = (2 * d) / nt - r.vi
- if(nvf < 0) console.warn('negative speed', r)
- if(debug) console.log(`adjusts by ratio ${(integer / count).toFixed(4)}, old vf ${r.vf.toFixed(3)} to nvf ${nvf.toFixed(3)}, t is ${nt.toFixed(3)}`)
- r.vf = nvf
- r.t = nt
- if(ramps[i + 1]) ramps[i + 1].vi = nvf
- }
console.timeLog('lookahead')
- // final check, if anything has fallen under speed...
- for(let r of ramps){
- if(r.vi < minSpeed || r.vf < minSpeed || r.vi > cruise || r.vf > cruise){
- console.warn('trouble speed', r.vi.toFixed(3), r.vf.toFixed(3))
+ // we do one last check:
+ for (let r of ramps) {
+ if (r.vi < minSpeed || r.vf < minSpeed || r.vi > cruise || r.vf > cruise || r.t < period) {
+ console.warn(`troublesome ramp found on final check`, r)
}
}
// run once,
diff --git a/libs/smallvectors.js b/libs/smallvectors.js
index 890d853dfafd97d9dc144b2efc4a3f10bba162dc..547f14204054fa2351ee58e7c2dc66971655e254 100644
--- a/libs/smallvectors.js
+++ b/libs/smallvectors.js
@@ -39,7 +39,7 @@ let vScalar = (v, s) => {
for(let i = 0; i < v.length; i ++){
ret[i] = v[i] * s
}
- return ret
+ return ret
}
let deg = (rad) => {
diff --git a/scratch/rampcheck.js b/scratch/rampcheck.js
new file mode 100644
index 0000000000000000000000000000000000000000..47e1a9bac586828495bd08fc01146170684bc990
--- /dev/null
+++ b/scratch/rampcheck.js
@@ -0,0 +1,26 @@
+
+// scratch notes
+let fn = () => {
+ for (let i = 0; i < ramps.length; i++) {
+ // try a forward walk through these things. adjust so that distance is equal for each,
+ let r = ramps[i]
+ // first, given current d, entrance and exit speeds, the time:
+ let d = vDist(r.pi, r.pf)
+ let t = 2 * d / (r.vi + r.vf)
+ // round to some degree, but not to zero...
+ let count = t / period
+ let integer = Math.round(count)
+ if (integer < 1) {
+ console.warn(`small ramp at ${i}`, r)
+ integer = 1
+ }
+ // so, given vi, want to decrease vf such that t = this period,
+ let nt = t * (integer / count)
+ let nvf = (2 * d) / nt - r.vi
+ if (nvf < 0) console.warn('negative speed', r)
+ if (debug) console.log(`adjusts by ratio ${(integer / count).toFixed(4)}, old vf ${r.vf.toFixed(3)} to nvf ${nvf.toFixed(3)}, t is ${nt.toFixed(3)}`)
+ r.vf = nvf
+ r.t = nt
+ if (ramps[i + 1]) ramps[i + 1].vi = nvf
+ }
+}