Hi Automata,
For immediate feed override action, we can speed up or slow down the time increment for popping the values from the polynomial.
This would certainly work. But the solution for this made in the SMP is slightly different :
In general for every servo cycle step a new motion is generated on forehand. This is needed to finish exactly where we want to.
For immediate feed overide, a change in "vm" will calculate a new motion.
In simple words, the algoritme looks wich periods are needed to create the motion to respect "vo", "vm", "ve", "s, "a".
There are multiple scenario's possible. More then you can count on one hand.
If the feed overide is changed during live motion execution, you will see the motion is accelerating to the new max vm value.
This is really nice to see it happen.
github.com/grotius-cnc/motion_tryout/blob/main/smp.h
line 211 is the function to determine how the motion will look
like.
It calculates the motion periods : t1,t2,t3. including types : acc,dcc,steady.
please share your thoughts on these 2 extrapolations i.e., feed override and jerk limitation.
For the s-curve you need a few things. The t1,t2,t3, the vo, vm, ve, a, s.
With above info the "jerk max" and finally the scurve can be calculated. The jerk max is one of the most
important values to define the power of the scurve.
The difficulty i see in performing the scurve in live mode is when changing the feed override, how to deal with it?
I need to write some functions for this. Functions that can calculate vm changes for scurve.
This is nasty code to write. But i can ask the ai to help a little.
