LinuxCNC S-Curve Accelerations

Hi, folks!

Dreaming about smoother movement with LCNC i have found and sucessfully try on Arduino Due this code:
github.com/synthetos/g2
with well-described jerk-controlled motion:
github.com/synthetos/g2/wiki/Jerk-Controlled-Motion-Explained

Are there any chance to recompile and intregrate this math to LCLC?

Hi BesPav,

Do you have a direct link to the math please?

Grotius wrote: Do you have a direct link to the math please?

Hi, Grotius!

I have zipped some planner sources with all those crazy discrete time and differential math, fortunately they have good comments, please check if this is what you wanted.

you can look at this github.com/rmu75/linuxcnc/tree/rs_6otp for an implementation of the 6th order bezier curve. the discrete diff math is not needed in linuxcnc, cpus powerful enough to run linuxcnc are powerful enough to use floating point and "direct evaluation".

I included a ipython notebook for those who want to play around with the bezier curves. , rename extension to .ipynb

Hi,

@ Rmu,
If this linuxcnc repro is working out of the box, wich i don't know at the moment, would be helpfull.
Then a diff to master will tell us what has to be modified for the scurve implemenation.

@BesPav,
There is no real scurve math inside. It looks like they hide it somewhere else.

I am working on a hal component that includes the scurve implemenation.
The user can request values for a certain timestamp. And it also gives other important values.
It is in fact a complete implementation of the first paper i posted before.
I think it will also be usefull to soft start spindles etc.

velocity start=1
velocity end=0
acceleration start=2
de-acceleration end=3 (machine can stop quicker)
A output example with halscope : user-images.githubusercontent.com/448801...a56-f8b83324c0b9.mp4

hi arvidb
I start testing your branch "smooth1d".
I seem to have compiled everything correctly. maybe )
But I didn't notice the difference. Can you explain How to configure your function? for Dummies