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get_pos_cmds()

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17 Mar 2015 17:43 - 18 Mar 2015 07:01 #56932 by socrassi
get_pos_cmds() was created by socrassi
Hi,
the source codes:

In the file motion/control.c,line1116:,in the function of get_pos_cmds():
the vel_req is calculated by the expression as showed above.
my question is:what,s the meaning of the expression?
or is it from a formula? If true,what,s the formula?

thanks,
Regards!
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Last edit: 18 Mar 2015 07:01 by socrassi.

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18 Mar 2015 14:16 #56974 by socrassi
Replied by socrassi on topic get_pos_cmds()
Now,i can conclude that the value of vel_req is the root of the quadratic equation.
which is : vel_req^2+ 2*max_dv*vel_req - 2*(joint->acc_limit)*pos_err =0
But i don‘t konw how can we get the equation?

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18 Mar 2015 21:39 #56986 by andypugh
Replied by andypugh on topic get_pos_cmds()
I don't think anyone here wrote that code.

You would have to try this question on the developers mailing list.

Do you have some reason to believe that the equation is wrong?

Bear in mind that there has been a recent upgrade to the trajectory planner, that code might not even be used any more in 2.7 +
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19 Mar 2015 07:56 #56996 by socrassi
Replied by socrassi on topic get_pos_cmds()
Thank you.
Can you give me a link to download the source code of linuxCNC in version 2.7?

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19 Mar 2015 17:20 #57005 by andypugh
Replied by andypugh on topic get_pos_cmds()

Thank you.
Can you give me a link to download the source code of linuxCNC in version 2.7?


git.linuxcnc.org/gitweb?p=linuxcnc.git;a=heads

"tree" for each of master, 2.6 and 2.7 should let you explore each branch.

But really you probably need to git clone the repository and check out the various branches locally.
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