René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"set_polar() vs set_position()","articleBody":"Wondering why the speed on these two functions are different. set_position has much quicker capabilities. The source for set_polar() shows: \r\n`static enum uarm_protocol_e uarm_cmd_g2201(char *payload){\t\t\t\t\t\t// \u003c! polar coord\r\n\tuint8_t rtn = 0;\r\n\tchar s_str[10], r_str[10], h_str[10], f_str[10];\r\n\tif( rtn = sscanf(payload, \"S%[0-9-+.]R%[0-9-+.]H%[0-9-+.]F%[0-9-+.]\", s_str, r_str, h_str, f_str) \u003c 4 ){\r\n\t\tDB_PRINT_STR( \"sscanf %d\\r\\n\", rtn );\r\n\t\treturn UARM_CMD_ERROR;\t\t\r\n\t}else{\r\n\t\tfloat length = 0, angle = 0, high = 0, speed = 0;\r\n\t\tfloat target[3] = {0};\r\n\t\tif( !read_float(s_str, NULL, \u0026length) ){ return false; }\r\n\t\tif( !read_float(r_str, NULL, \u0026angle) ){ return false; }\r\n\t\tif( !read_float(h_str, NULL, \u0026high) ){ return false; }\r\n\t\tif( !read_float(f_str, NULL, \u0026speed) ){ return false; }\r\n\r\n\t\tangle = (angle - 90.0) / RAD_TO_DEG;\t\r\n\t\ttarget[X_AXIS] = length * cos(angle); \r\n\t\ttarget[Y_AXIS] = length * sin(angle);\r\n\t\ttarget[Z_AXIS] = high; \t\t\r\n\r\n\t\treturn mc_line( 1, target, speed, false );\r\n\t}\r\n}\r\n\r\nand source for set_position()\r\n`static enum uarm_protocol_e uarm_cmd_g2204(char *payload){\t\t\t\t\t// \u003c! coord offset \r\n\tuint8_t rtn = 0;\r\n\tchar x_str[10], y_str[10], z_str[10], f_str[10];\r\n\tif( rtn = sscanf(payload, \"X%[0-9-+.]Y%[0-9-+.]Z%[0-9-+.]F%[0-9-+.]\", x_str, y_str, z_str, f_str ) \u003c 4 ){\r\n\t\tDB_PRINT_STR( \"sscanf %d\\r\\n\", rtn );\r\n\t\treturn UARM_CMD_ERROR;\r\n\t}else{\r\n\t\tfloat x = 0, y = 0, z = 0, speed = 0;\r\n\t\tfloat target[3];\r\n\t\tif( !read_float(x_str, NULL, \u0026x) ){ return false; }\r\n\t\tif( !read_float(y_str, NULL, \u0026y) ){ return false; }\r\n\t\tif( !read_float(z_str, NULL, \u0026z) ){ return false; }\r\n\t\tif( !read_float(f_str, NULL, \u0026speed) ){ return false; }\r\n\r\n\t\tstep_to_coord( uarm.target_step[X_AXIS], uarm.target_step[Y_AXIS], uarm.target_step[Z_AXIS], \r\n\t\t\t\t\t\t\t\t\t \u0026target[X_AXIS], \u0026target[Y_AXIS], \u0026target[Z_AXIS] );\r\n\t\tcoord_arm2effect( \u0026target[X_AXIS], \u0026target[Y_AXIS], \u0026target[Z_AXIS] );\r\n\t\ttarget[X_AXIS] += x;\r\n\t\ttarget[Y_AXIS] += y;\r\n\t\ttarget[Z_AXIS] += z;\r\n\r\n\t\treturn mc_line( 1 , target, speed, false );\r\n\t}\r\n}\r\n\r\nNot the greatest at this trig, but i diffed it and found that it ends up decrementing and incrementing on the other while calling these two calculation functions:\r\nvoid coord_arm2effect(float *x, float *y, float *z){\r\n\tfloat anglec;\r\n\r\n\tif( *x == 0 ){\r\n\t\tif(*y \u003e 0){\r\n\t\t\tanglec = 90 / RAD_TO_DEG;\r\n\t\t}else{\r\n\t\t\tanglec = -90 / RAD_TO_DEG;\r\n\t\t}\r\n\t}else if(*x \u003c 0){\r\n\t\tanglec = NAN;\t// \u003c! cann't arrive\r\n\t}else{\r\n\t\tanglec = atan(*y / *x);\r\n\t}\t\r\n\r\n\t*x += uarm.param.front_offset * cos(anglec); \r\n\t*y += uarm.param.front_offset * sin(anglec);\r\n\t*z -= uarm.param.high_offset;\t\r\n\r\n}\r\n\r\nvoid coord_effect2arm(float *x, float *y, float *z){\r\n\tfloat anglec;\r\n\r\n\tif( *x == 0 ){\r\n\t\tif(*y \u003e 0){\r\n\t\t\tanglec = 90 / RAD_TO_DEG;\r\n\t\t}else{\r\n\t\t\tanglec = -90 / RAD_TO_DEG;\r\n\t\t}\r\n\t}else if(*x \u003c 0){\r\n\t\tanglec = NAN;\t// \u003c! cann't arrive\r\n\t}else{\r\n\t\tanglec = atan(*y / *x);\r\n\t}\t\r\n\r\n\t*x -= uarm.param.front_offset * cos(anglec); \r\n\t*y -= uarm.param.front_offset * sin(anglec);\r\n\t*z += uarm.param.high_offset;\t\t\r\n}\r\n\r\n`\r\nAny help making set_polar just as fast as set_position?","author":{"url":"https://github.com/P3nguin-M","@type":"Person","name":"P3nguin-M"},"datePublished":"2020-10-09T18:20:10.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":0},"url":"https://github.com/16/SwiftProForArduino/issues/16"}