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itersolve: Use stricter completion check in itersolve_find_step() 

Use a more strict check for determining if the iterative solver has
correctly found a step - the guess must be within 1 picometer of the
target or correct to within 1 nanosecond.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-08-08 11:39:31 -04:00
parent 513582afc4
commit ea5e76746a
1 changed files with 4 additions and 2 deletions
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6
klippy/chelper/itersolve.c
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@ -43,11 +43,11 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
for (;;) { for (;;) {
double guess_time = ((low.time*high.position - high.time*low.position) double guess_time = ((low.time*high.position - high.time*low.position)
/ (high.position - low.position)); / (high.position - low.position));
if (fabs(guess_time - best_guess.time) <= .000000001)
break;
best_guess.time = guess_time; best_guess.time = guess_time;
best_guess.position = calc_position_cb(sk, m, guess_time); best_guess.position = calc_position_cb(sk, m, guess_time);
double guess_position = best_guess.position - target; double guess_position = best_guess.position - target;
if (fabs(guess_position) <= .000000001)
break;
int guess_sign = signbit(guess_position); int guess_sign = signbit(guess_position);
if (guess_sign == high_sign) { if (guess_sign == high_sign) {
high.time = guess_time; high.time = guess_time;
@ -62,6 +62,8 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
high.position *= .5; high.position *= .5;
prev_choice = -1; prev_choice = -1;
} }
if (high.time - low.time <= .000000001)
break;
} }
return best_guess; return best_guess;
} }