diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 4f6615b59b0d62f594c368a3692a8be5ae89772a..2fb0562e0cabc12fff70cc6eb1aec897ea9adee1 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -56,26 +56,25 @@ export default function Saturn() {
return (!outx.io() && !outy.io() && !outz.io())
}
- // our positions (and num segs to plan over)
- let positionsBufferSize = 64
- let positions = [
- [0, 0, 0]
- ] // should always have p[0] (current) and p[1] (one target) when running, at standstill have p[0] only
-
// settings,
let deviation = 0.1 // virtual radius to junction about
let accel = 980 // units/s/s (9.8m/s/s, 9800mm/s/s is 1G)
let minSpeed = 0.01 // conspicuous, to debug for tails (indexing)
let period = 0.050 // his.state('number', 'period', 50) // in ms,
-
// current states,
let cruise = 200 // target, (units/s)
+ // the metal (do here, or elsewhere?)
+ let spmm = 200
+
+ // our positions (and num segs to plan over)
+ let positionsBufferSize = 32
+ let positions = [
+ [0, 0, 0]
+ ] // should always have p[0] (current) and p[1] (one target) when running, at standstill have p[0] only
+ let ramps = []
let speed = minSpeed // currently
let posUpdated = false
- // we nasty,
- let spmm = 200
-
// OK: *i think* the move might be to do this *first* and then never increase moves
let periodPass = (speeds, debug) => {
for (let i = positions.length - 2; i > 0; i--) {
@@ -214,6 +213,7 @@ export default function Saturn() {
let rampPass = (speeds, debug) => {
let ramps = []
for (let i = 0; i < positions.length - 2; i++) {
+ let numRampsBefore = ramps.length
if (debug) console.log(`ramp pass for ${i}`)
let pi = positions[i]
let pf = positions[i + 1]
@@ -270,11 +270,11 @@ export default function Saturn() {
// here we will handle triangles '/\' and 'full trapezoids' '/--\'
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 (dcDist + dcDist > d) {
+ if (dcDist + dcDist >= d) {
if (debug) console.log('/\\')
writeTriangle(ramps, vi, vf, pi, pf)
} else { // BEGIN TRAP SELECTIONS
- if (debug) console.log('/--\\')
+ if (true) console.log('/--\\')
let pa = math.add(pi, vScalar(vUnitBetween(pi, pf), acDist))
let pb = math.add(pf, vScalar(vUnitBetween(pf, pi), dcDist))
// ok,
@@ -285,7 +285,7 @@ export default function Saturn() {
if (tSeg2 < period) {
// for this case, contencating into a triangle is fine... it will be within ~ 50ms of extra accel time: not much
if (debug) console.log('/\\')
- writeTriangle()
+ writeTriangle(ramps, vi, vf, pi, pf)
} else if (tSeg1 < period && tSeg3 < period) {
// contencate into one ramp
writeSeg(ramps, vi, vf, pi, pf)
@@ -299,9 +299,15 @@ export default function Saturn() {
// write first, then contencate second, third into one
writeSeg(ramps, vi, cruise, pi, pa)
writeSeg(ramps, cruise, vf, pa, pf)
+ } else {
+ // forgot the genuine full cruiser, here it is
+ writeSeg(ramps, vi, cruise, pi, pa)
+ writeSeg(ramps, cruise, cruise, pa, pb)
+ writeSeg(ramps, cruise, vf, pb, pf)
}
} // end TRAP SELECTIONS
} // end BIGSWITCH
+ if(ramps.length === numRampsBefore) console.warn('zero ramps written for', pi, pf, vi, vf)
} // end for-over-positions
return ramps
}
@@ -318,109 +324,132 @@ export default function Saturn() {
}
let rampCheck = (ramps) => {
- for(let r of ramps){
+ for (let i = 0; i < ramps.length; i ++) {
+ let r = ramps[i]
let d = vDist(r.pi, r.pf)
let t = 2 * d / (r.vi + r.vf)
- if(t < (period - 0.001)) console.warning('troublesome ramp, small time', r)
- if(r.vi > (cruise + 1) || r.vf > (cruise + 1)) console.warning('troublesome ramp, high speed', r)
+ if (t < (period - 0.001)) console.warn('troublesome ramp, small time', r)
+ // more than 10% over speed is probably not cool,
+ let cruiseAbsMax = cruise + 0.15 * cruise
+ if (r.vi > cruiseAbsMax || r.vf > cruiseAbsMax) console.warn('troublesome ramp, high speed', r)
+ // check that ramps are continuous
+ if(i < ramps.length - 2){
+ let sep = vDist(r.pf, ramps[i + 1].pi)
+ if(sep > 0.001) console.warn('troublesome ramp junction', r, ramps[i + 1])
+ }
}
}
- let blockOnce = true
- let blocks = []
- let posNow = []
+ let blockOnce = false
this.loop = () => {
- // loading new points,
- if (positions.length < positionsBufferSize && inpts.io()) {
- let np = inpts.get()
- // reject the baddies
- try {
- if (vLen(math.subtract(np, positions[positions.length - 1])) === 0) {
- // dunk on 'em
- console.warn('zero length appendage rejected by planner')
- } else {
- positions.push(np) // end of queue
- //console.log('new pt\t', positions.length, np)
- }
- } catch (err) {
- console.warn('error caught at saturn input', err)
- }
- }
- //if (allClear() && positions.length > 32) {
- // first we get all move final v's by jd:
- // we jd,
- if (positions.length > positionsBufferSize - 1 && blockOnce) {
- blockOnce = false
- // ok, here's the lookahead routine:
- console.time('lookahead')
- // positions[] is global, speeds is generated now
- // speed[0], matching positions[0], are our current situations
- let speeds = new Array(positions.length)
- speeds[0] = speed
- speeds[speeds.length - 1] = minSpeed
- // first, set speeds such that moves can be made within single periods,
- periodPass(speeds)
- console.timeLog('lookahead')
- // jd runs an algorithm that calculates maximum allowable
- // instantaneous accelerations at corners
- jd(speeds) // at ~ 38ms, this is the beef of it
- console.timeLog('lookahead')
- // revpass to link by max. accel:
- reversePass(speeds)
- forwardPass(speeds)
- // rough check speeds after initial passes,
- // TODO: if we find these throwing errs, interrupt control when we
- // hit some geometry we can't deal with?
- positionsCheck(speeds)
- console.timeLog('lookahead')
- // ok, ramps:
- let ramps = rampPass(speeds)
- // and a check,
- rampCheck(ramps)
- console.timeLog('lookahead')
- // NEXT
- /*
- console.timeLog('lookahead')
- for (let i = 0; i < positions.length - 1; i++) {
- console.log(`${i} of ${positions.length} has speed ${speeds[i].toFixed(3)} dist ${vDist(positions[i], positions[i+1]).toFixed(3)}`)
- }
- // now ready to segment
- //...
- let ramps = rampPass(speeds, true)
- // hmm...
- console.log(`have ${ramps.length} ramps`)
- /*
- for(let r of ramps){
- console.log(r.t)
- }
- */
- // re-hash from here
- // what is a block to a motor?
- // if we want to preserve times, perhaps blocks are:
- // (uint) timebase (period size)
- // (int) rate start
- // (int) rate rate
- // (uint) rate count
- }
-
- if (blocks.length > 0 && allClear()) {
- let bl = blocks.shift()
- //console.log('block', bl)
- let dist = vDist(bl[0], bl[1])
- console.log(dist.toFixed(4))
- // to gate,
+ // handle output to stepper, if we have any existing blocks to issue:
+ if (ramps.length > 0 && allClear()) {
+ //console.log('op ramp', rpo.pf)
outx.put(1)
outy.put(1)
outz.put(1)
- // output in steps-space...
- posNow = vScalar(bl[0], spmm)
+ // our 'current position, from the end of the
+ // last ramp we shipped, is rpo.pf
posUpdated = true
+ // this means we are either inside of two old positions,
+ // in which case we update p[0], or at the end of p[0], at p[1]
+ let dtp = vDist(ramps[0].pf, positions[1])
+ // if we're within 10^-3 of the units, clear it out
+ console.log(`at evt, dtp is ${dtp.toFixed(6)}`)
+ if (dtp < 0.001) {
+ console.log(`> complete position, had ${positions.length}`)
+ for(let i = 0; i < 10; i ++){
+ console.log(`> position[${i}] ${positions[i][0].toFixed(3)}, ${positions[i][1].toFixed(3)}, ${positions[i][2].toFixed(3)}`)
+ }
+ for(let i = 0; i < 10; i ++){
+ console.log(`> ramps[${i}].pi ${ramps[i].pi[0].toFixed(3)},${ramps[i].pi[1].toFixed(3)},${ramps[i].pi[2].toFixed(3)}`)
+ console.log(`> ramps[${i}].pf ${ramps[i].pf[0].toFixed(3)},${ramps[i].pf[1].toFixed(3)},${ramps[i].pf[2].toFixed(3)}`)
+ }
+ positions.shift()
+ ramps.shift()
+ console.log(`> now position, have ${positions.length}`)
+ // have to recalculate blocks now I think?
+ } else {
+ console.log(`updating p[0]`)
+ positions[0] = ramps[0].pf
+ ramps.shift()
+ }
+ console.log(`${ramps.length} ramps, ${positions.length} positions`)
}
if (!outp.io() && posUpdated) {
- outp.put(posNow)
+ outp.put(positions[0])
posUpdated = false
}
+
+ let logTimes = false
+
+ // load new pts into the array,
+ if (positions.length < positionsBufferSize && inpts.io()) {
+ // get the new pt, adding it if it is of any appreciable distance
+ if(!blockOnce){
+ let np = inpts.get()
+ try {
+ if (vDist(np, positions[positions.length - 1]) < 0.001) {
+ // dunk on 'em
+ console.warn('zero length appendage rejected by planner')
+ } else {
+ positions.push(np) // end of queue
+ console.log(`puts new position for ${positions.length}`)
+ // THE BUSINESS:
+ // ok, here's the lookahead routine:
+ }
+ } catch (err) {
+ console.warn('error caught at saturn input', err)
+ }
+ }
+
+ if (positions.length > positionsBufferSize - 2 && !blockOnce) {
+ blockOnce = true
+ console.log('lookahead')
+ // LOOKAHEAD BEGIN
+ if (logTimes) console.time('lookahead')
+ // positions[] is global, speeds is generated now
+ // speed[0], matching positions[0], are our current situations
+ let speeds = new Array(positions.length)
+ speeds[0] = speed
+ speeds[speeds.length - 1] = minSpeed
+ // first, set speeds such that moves can be made within single periods,
+ periodPass(speeds)
+ if (logTimes) console.timeLog('lookahead')
+ // jd runs an algorithm that calculates maximum allowable
+ // instantaneous accelerations at corners
+ jd(speeds) // at ~ 38ms, this is the beef of it
+ if (logTimes) console.timeLog('lookahead')
+ // revpass to link by max. accel:
+ reversePass(speeds)
+ forwardPass(speeds)
+ // rough check speeds after initial passes,
+ // TODO: if we find these throwing errs, interrupt control when we
+ // hit some geometry we can't deal with?
+ positionsCheck(speeds)
+ if (logTimes) console.timeLog('lookahead')
+ // ok, ramps:
+ ramps.length = 0
+ ramps = rampPass(speeds)
+ // is this still conn. to our head?
+ if (ramps.length > 0) console.log('new ramps', vDist(ramps[0].pi, positions[0]).toFixed(5))
+ // and a check,
+ rampCheck(ramps)
+ if (logTimes) console.timeLog('lookahead')
+ if (logTimes) console.timeEnd('lookahead')
+ for(let i = 0; i < 20; i ++){
+ console.log(positions[i])
+ }
+ console.log(ramps[0].pi)
+ for(let i = 0; i < 30; i ++){
+ console.log(ramps[i].pf)
+ }
+ throw new Error('once')
+ //console.log('new pt\t', positions.length, np)
+ // LOOKAHEAD END
+ }
+ }
}
}
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
index 651d610de479c813eb1056210466434a343cd24b..92d00b29dd36073159483b068871370348c82f39 100644
--- a/hunks/adhoc/tpath.js
+++ b/hunks/adhoc/tpath.js
@@ -14,7 +14,7 @@ import {
// example-path-long.js also exists...
// example-path-small.js ...
// example-path-sl2.js
-import * as expath from '../../test_files/example-path-sl2.js'
+import * as expath from '../../test_files/example-path-small.js'//example-path-sl2.js'
import { vScalar } from '../../libs/smallvectors.js'
let dpi = 72
diff --git a/save/contexts/cuttlefish/dbg-25ms-bare.json b/save/contexts/cuttlefish/dbg-25ms-bare.json
new file mode 100644
index 0000000000000000000000000000000000000000..103ba5cb0493d9c1d82072209ad1cd462a140301
--- /dev/null
+++ b/save/contexts/cuttlefish/dbg-25ms-bare.json
@@ -0,0 +1,124 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_2",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_3",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ },
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "25"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/contexts/cuttlefish/dbg-50ms-bare.json b/save/contexts/cuttlefish/dbg-50ms-bare.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b3cf1ca21b7d23a9260c73d2b5fdfa88b98d66
--- /dev/null
+++ b/save/contexts/cuttlefish/dbg-50ms-bare.json
@@ -0,0 +1,124 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_2",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_3",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ },
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/contexts/cuttlefish/dbg-50ms-log.json b/save/contexts/cuttlefish/dbg-50ms-log.json
new file mode 100644
index 0000000000000000000000000000000000000000..12bb4ab6d1bb49167dd7c713101d79234f8ca360
--- /dev/null
+++ b/save/contexts/cuttlefish/dbg-50ms-log.json
@@ -0,0 +1,152 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_2",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_3",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ },
+ {
+ "type": "data/log_objects",
+ "name": "data/log_objects_5",
+ "inputs": [
+ {
+ "name": "tolog",
+ "type": "reference"
+ }
+ ],
+ "states": [
+ {
+ "name": "prefix",
+ "type": "string",
+ "value": "LOG:"
+ },
+ {
+ "name": "console",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/contexts/cuttlefish/dbg-50ms.json b/save/contexts/cuttlefish/dbg-50ms.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40117e04a56b9eebe91ebf16d71f1348f62d18b
--- /dev/null
+++ b/save/contexts/cuttlefish/dbg-50ms.json
@@ -0,0 +1,140 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_2",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "reset",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_3",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outx",
+ "type": "number",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "outy",
+ "type": "number"
+ },
+ {
+ "name": "outz",
+ "type": "number"
+ }
+ ]
+ },
+ {
+ "type": "interface/threejs_ghost",
+ "name": "interface/threejs_ghost_4",
+ "inputs": [
+ {
+ "name": "point",
+ "type": "array"
+ }
+ ]
+ },
+ {
+ "type": "adhoc/consumer",
+ "name": "adhoc/consumer_5",
+ "inputs": [
+ {
+ "name": "takes",
+ "type": "number"
+ }
+ ],
+ "states": [
+ {
+ "name": "period",
+ "type": "number",
+ "value": "50"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file