From 81ac0962bff0bd21c571c8a43f99b1793456a94c Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 30 Oct 2019 09:46:11 -0400
Subject: [PATCH] ramp ramp completion
---
hunks/adhoc/saturn.js | 73 ++++++++++++++++++++++++++++++-------------
1 file changed, 52 insertions(+), 21 deletions(-)
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 524ad12..9bcbfc3 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -325,27 +325,58 @@ export default function Saturn() {
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
- })
+ // check that enough space to make slow triangle,
+ if(tSeg1 + tSeg2 < period){
+ // sweet lord there must be a better way
+ if(vf > vi){
+ writeUpTick()
+ } else {
+ writeDownTick()
+ }
+ } else {
+ // slow-triangle up,
+ ramps.push({
+ vi: vi,
+ vf: cruise,
+ t: 2 * vDist(pi, pb) / (vi + cruise),
+ pi: pi,
+ pf: pb
+ })
+ // 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
+ if(tSeg2 + tSeg3 < period){
+ // ibid
+ if(vf > vi){
+ writeUpTick()
+ } else {
+ writeDownTick()
+ }
+ } else {
+ // write first seg as normal,
+ ramps.push({
+ vi: vi,
+ vf: cruise,
+ t: tSeg1,
+ pi: pi,
+ pf: pa
+ })
+ // second as slow-loss from pa -> vf
+ ramps.push({
+ vi: cruise,
+ vf: vf,
+ t: 2 * vDist(pa, pf) / (cruise + vf),
+ pi: pa,
+ pf: pf
+ })
+ }
} else {
// 3 segs
ramps.push({
@@ -461,7 +492,7 @@ export default function Saturn() {
console.timeLog('lookahead')
// 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) {
+ if (r.vi < minSpeed || r.vf < minSpeed || r.vi > (cruise * 1.1) || r.vf > (cruise * 1.1) || r.t < period) {
console.warn(`troublesome ramp found on final check`, r)
}
}
--
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