Linux CNC for a mobile machine?

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06 Sep 2017 22:26 #98600 by NavyIsland
NavyIsland created the topic: Linux CNC for a mobile machine?
Hello, i am developing an autonomous guided vehicle system for transporting material from point a to point b.

On the AGV will be a computer running some motion control application, (linuxcnc or something else).
And connected over a network will be the server telling the AGV what to do, (grab x from location y and take it to location z).
The AGV will be in constant communication with the server.
Wondering if:
1). anyone knows how to receive text over an ethernet connection and change the g-code program executing on linux cnc?
2). send information back over a network.
3). and what the major issues would be in the proposed communication?

~Ben
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08 Sep 2017 14:56 #98694 by andypugh
andypugh replied the topic: Linux CNC for a mobile machine?
This doesn't sound like such a natural fit for LinuxCNC to me.
And going via G-code seems even stranger.

It is possible to use certain parts of LinuxCNC without others, for example you could simply not use the G-code interpreter and motion controller.

Also you might be interested to know that LinuxCNC supports alternative interpreters, so you might be able to write an interpreter module that converts your data directly to motor positions without the G-code step.
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08 Sep 2017 20:34 #98711 by NavyIsland
NavyIsland replied the topic: Linux CNC for a mobile machine?
So suppose i white my own interpreter. there are a few pieces to this program.
1). a steering algorithm that runs indefinitely to follow the travel path.
2). a wifi receiver for taking instructions and forwarding them on to a logic engine.
3). a wifi transmitter to send status updates back to a server.

i can and have done part 1.
does anyone have any ideas for sending/receiving wifi signals and changing operation based on them?

~Ben
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09 Sep 2017 23:45 - 09 Sep 2017 23:46 #98750 by andypugh
andypugh replied the topic: Linux CNC for a mobile machine?
I guess by the time WiFi is in the loop you are no longer in hard realtime?

Or are you confident in the realtime behaviour of that link?

I can see ways to do this with LinuxCNC and think it sounds like fun, but you might want to consider ROS .
Last Edit: 09 Sep 2017 23:46 by andypugh.
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11 Sep 2017 20:28 #98852 by NavyIsland
NavyIsland replied the topic: Linux CNC for a mobile machine?
No, the wifi has up to about a 1/16 second latency. So that part is not real time.
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