Hi there everyone,
When i read the source code invoid tcRunCycle(TP_STRUCT *tp, TC_STRUCT *tc,
double *v, int *on_final_decel) , I can't understand the follows mean:
discr = 0.5 * tc->cycle_time * tc->currentvel - (tc->target -
tc->progress);
discr = 0.25 * pmSq(tc->cycle_time) - 2.0 / tc->maxaccel * discr;
newvel = maxnewvel = -0.5 * tc->maxaccel * tc->cycle_time
+tc->maxaccel * pmSqrt(discr);
although i have read Simple Tp
Notes(wiki.linuxcnc.org/emcinfo.pl?action=hist...p;id=Simple_Tp_Notes), and
understand it.
Is there anyone can explain it?
Thank you very much.
Best regards!
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