double TimeEstimateCalculator::calculate()
{
reverse_pass();
forward_pass();
recalculate_trapezoids();
double totalTime = 0;
for(unsigned int n=0; n<blocks.size(); n++)
{
double plateau_distance = blocks[n].decelerate_after - blocks[n].accelerate_until;
totalTime += acceleration_time_from_distance(blocks[n].initial_feedrate, blocks[n].accelerate_until, blocks[n].acceleration);
totalTime += plateau_distance / blocks[n].nominal_feedrate;
totalTime += acceleration_time_from_distance(blocks[n].final_feedrate, (blocks[n].distance - blocks[n].decelerate_after), blocks[n].acceleration);
}
return totalTime;
}
/*
* Recalculate the motion plan according to the following algorithm:
*
* 1. Go over every block in reverse order...
*
* Calculate a junction speed reduction (block_t.entry_factor) so:
*
* a. The junction jerk is within the set limit, and
*
* b. No speed reduction within one block requires faster
* deceleration than the one, true constant acceleration.
*
* 2. Go over every block in chronological order...
*
* Dial down junction speed reduction values if:
* a. The speed increase within one block would require faster
* acceleration than the one, true constant acceleration.
*
* After that, all blocks will have an entry_factor allowing all speed changes to
* be performed using only the one, true constant acceleration, and where no junction
* jerk is jerkier than the set limit, Jerky. Finally it will:
*
* 3. Recalculate "trapezoids" for all blocks.
*/
void Planner::recalculate() {
reverse_pass();
forward_pass();
recalculate_trapezoids();
}
