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Make feed override control the WASM trajectory

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wangdequan
2026-08-31 06:19:36 +08:00
parent 2cda55e724
commit 51ba923cb5
13 changed files with 181 additions and 15 deletions
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15
wasm-core/src/sim_motion_queue.c
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@@ -12,6 +12,7 @@ typedef struct motion_meta {
uint32_t lookahead;
double acceleration_limit;
double jerk_limit;
double feed_override;
double current_velocity;
double current_acceleration;
uint32_t paused;
@@ -34,6 +35,7 @@ static motion_meta *meta_for(const sim_motion_queue *queue, int create) {
free_slot->lookahead = 1;
free_slot->acceleration_limit = 1e9;
free_slot->jerk_limit = 1e12;
free_slot->feed_override = 1.0;
free_slot->paused = 0;
return free_slot;
}
@@ -106,6 +108,7 @@ int sim_motion_reset(sim_motion_queue *queue) {
meta->lookahead = 1;
meta->acceleration_limit = 1e9;
meta->jerk_limit = 1e12;
meta->feed_override = 1.0;
meta->current_velocity = 0.0;
meta->current_acceleration = 0.0;
meta->paused = 0;
@@ -147,6 +150,13 @@ int sim_motion_set_dynamics(sim_motion_queue *queue, double acceleration_limit,
return SIM_MOTION_OK;
}
int sim_motion_set_feed_override(sim_motion_queue *queue, double feed_override) {
motion_meta *meta = meta_for(queue, 1);
if (meta == NULL || !isfinite(feed_override) || feed_override < 0.0 || feed_override > 2.0) return SIM_MOTION_ERR_RANGE;
meta->feed_override = feed_override;
return SIM_MOTION_OK;
}
int sim_motion_set_paused(sim_motion_queue *queue, uint32_t paused) {
motion_meta *meta = meta_for(queue, 1);
if (meta == NULL || paused > 1u) return SIM_MOTION_ERR_ARGUMENT;
@@ -174,11 +184,12 @@ static double planned_velocity(const sim_motion_queue *queue, uint32_t offset) {
uint32_t index;
if (queue == NULL || offset >= queue->count) return 0.0;
index = (queue->head + offset) % SIM_MOTION_QUEUE_CAPACITY;
velocity = queue->commands[index].segment.velocity;
velocity = queue->commands[index].segment.velocity * (meta == NULL || (queue->commands[index].flags & SIM_MOTION_COMMAND_FLAG_RAPID) != 0u ? 1.0 : meta->feed_override);
if (meta == NULL || meta->profile == SIM_MOTION_PROFILE_EXACT_STOP) return velocity;
for (index = 1; index <= meta->lookahead && offset + index < queue->count; ++index) {
uint32_t next = (queue->head + offset + index) % SIM_MOTION_QUEUE_CAPACITY;
if (queue->commands[next].segment.velocity < velocity) velocity = queue->commands[next].segment.velocity;
const double next_velocity = queue->commands[next].segment.velocity * ((queue->commands[next].flags & SIM_MOTION_COMMAND_FLAG_RAPID) != 0u ? 1.0 : meta->feed_override);
if (next_velocity < velocity) velocity = next_velocity;
}
return velocity;
}