From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Fri, 18 Aug 2017 20:27:13 +0000 (-0700)
Subject: Working on jog limits
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=bf333a3225818eec11c0dd389efe1c81e79e929d;p=bbctrl-firmware

Working on jog limits
---

diff --git a/src/avr/src/plan/jog.c b/src/avr/src/plan/jog.c
index d846949..53a3c94 100644
--- a/src/avr/src/plan/jog.c
+++ b/src/avr/src/plan/jog.c
@@ -95,6 +95,29 @@ static bool _axis_velocity_target(int axis) {
 }
 
 
+#if 0
+static float _compute_deccel_dist(float vel, float accel, float jerk) {
+  float dist = 0;
+  float Ad = jerk * SEGMENT_TIME; // Delta accel
+
+  while (true) {
+    // Compute next accel
+    float At2 = -jerk * vel;
+    if (accel * accel < At2) accel += Ad;
+    else accel -= Ad;
+
+    // Compute next velocity
+    vel += accel * SEGMENT_TIME;
+    if (vel <= 0) break;
+
+    // Compute distance traveled
+    dist += vel * SEGMENT_TIME;
+  }
+
+  return dist;
+}
+
+#else
 static float _compute_deccel_dist(float vel, float accel, float jerk) {
   float dist = 0;
 
@@ -124,6 +147,7 @@ static float _compute_deccel_dist(float vel, float accel, float jerk) {
 
   return dist;
 }
+#endif
 
 
 static float _limit_position(int axis, float p) {