LinuxCNC S-Curve Accelerations
- rodw
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29 Mar 2025 23:45 #325293
by rodw
Replied by rodw on topic LinuxCNC S-Curve Accelerations
Well that's settled grotius-tp it is! Who wants to pick a fight with Tommy!!!!I agree with Rod, naming can and will cause issues as soon as more people start using this, so changing it sooner rather than later would be beneficial.
Also agree on calling it Grotius, for us who spend more time here on the forum it would obvious, and new user will have to learn whatever the name may become.
The following user(s) said Thank You: tommylight, Grotius, endian
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30 Mar 2025 00:33 #325296
by tommylight
Replied by tommylight on topic LinuxCNC S-Curve Accelerations
Me, every single day, all day long!!!
Well that's settled grotius-tp it is! Who wants to pick a fight with Tommy!!!!
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- endian
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30 Mar 2025 07:56 #325304
by endian
Replied by endian on topic LinuxCNC S-Curve Accelerations
I think naming have to be unique because as Gentlemen said before we have some similarities yet and create new ones is not a best practies ... Something like extented trajectory planner or grotius trajectory planner should be great... and it should be an included part of raw lcnc and no more problems at all..
I basically need a velocity command which comes out of PID and its first derivation which means acceleration ... but velocity is not constant and derivations have different character depends of time I defenetly need some spline acceleration profile generator which allready @Grotius hammered for us ... or?
I basically need a velocity command which comes out of PID and its first derivation which means acceleration ... but velocity is not constant and derivations have different character depends of time I defenetly need some spline acceleration profile generator which allready @Grotius hammered for us ... or?
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30 Mar 2025 09:00 #325305
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
Hi,
Ok. We will rename it to : grotius-tp.so
@Endian,
It's still unclear to me what you exactly need.
1. A linuxcnc single axis component that generates a scurve motion, given a target position, maxvel, maxacc, maxjerk.
2. A multi axis pid for linuxcnc that generates motion given target position, maxvel, maxacc, maxjerk.
3. Something else.
Making a pid from a scurve is possible. I am a bit concerned about the following error, but we will see how it works out.
Yesterday, i got messaged by 2 people who have installing problems to enable ethercat & scurve on their linuxcnc iso installation.
Most off the users don't have the skills to install a rip installation, etc. So they have in fact a problem running our software.
It will take them hours & hours to get some install results.
To resolve this, i think i will make a .iso distribution today.
Ok. We will rename it to : grotius-tp.so
@Endian,
It's still unclear to me what you exactly need.
1. A linuxcnc single axis component that generates a scurve motion, given a target position, maxvel, maxacc, maxjerk.
2. A multi axis pid for linuxcnc that generates motion given target position, maxvel, maxacc, maxjerk.
3. Something else.
Making a pid from a scurve is possible. I am a bit concerned about the following error, but we will see how it works out.
Yesterday, i got messaged by 2 people who have installing problems to enable ethercat & scurve on their linuxcnc iso installation.
Most off the users don't have the skills to install a rip installation, etc. So they have in fact a problem running our software.
It will take them hours & hours to get some install results.
To resolve this, i think i will make a .iso distribution today.
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30 Mar 2025 09:17 #325306
by endian
and this flavour of errror ocours during all attempts
Replied by endian on topic LinuxCNC S-Curve Accelerations
I have stared the installation but ... I am little bit lost here -Hi Endian.
The scurve planner uses :
libclothoid3d and libscurve
libclothoid3 depends on libceres.
the scurve planner is tpmod.so.
loaded by linuxcnc.
Do you only want to use libscurve to generate motion for servo motor?
user@debian:~$ git clone https://codeberg.org/skynet/clothoid_3d.git
Cloning into 'clothoid_3d'...
warning: redirecting to https://codeberg.org/skynet/libclothoid3d/
remote: Enumerating objects: 1089, done.
remote: Counting objects: 100% (1089/1089), done.
remote: Compressing objects: 100% (461/461), done.
remote: Total 1089 (delta 696), reused 888 (delta 566), pack-reused 0 (from 0)
Receiving objects: 100% (1089/1089), 11.61 MiB | 828.00 KiB/s, done.
Resolving deltas: 100% (696/696), done.
user@debian:~$ mkdir clothoid_3d/build
user@debian:~$ cd clothoid_3d/build
user@debian:~/clothoid_3d/build$ cmake ..
-- The C compiler identification is GNU 8.3.0
-- The CXX compiler identification is GNU 8.3.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at test/CMakeLists.txt:35 (install):
install TARGETS given no RUNTIME DESTINATION for executable target "test".
-- Configuring incomplete, errors occurred!
See also "/home/user/clothoid_3d/build/CMakeFiles/CMakeOutput.log".
user@debian:~/clothoid_3d/build$ sudo cmake ..
CMake Error at test/CMakeLists.txt:35 (install):
install TARGETS given no RUNTIME DESTINATION for executable target "test".
-- Configuring incomplete, errors occurred!
See also "/home/user/clothoid_3d/build/CMakeFiles/CMakeOutput.log".
user@debian:~/clothoid_3d/build$ sudo apt install -y libeigen3-dev libboost-all-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
libeigen3-dev is already the newest version (3.3.7-1).
libeigen3-dev set to manually installed.
The following packages were automatically installed and are no longer required:
gir1.2-vte-2.91 libglade2-0 libgtkglext1 libgtksourceview2.0-0 libgtksourceview2.0-common
libtk-img python-cairo python-configobj python-glade2 python-gobject-2 python-gst-1.0
python-gtk2 python-gtkglext1 python-gtksourceview2 python-olefile python-opengl python-pil
python-pil.imagetk python-pyqt5.qtwebkit python-rsvg python-six python-xlib
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
dh-python libboost-atomic-dev libboost-atomic1.67-dev libboost-chrono-dev
libboost-chrono1.67-dev libboost-container-dev libboost-container1.67-dev
libboost-container1.67.0 libboost-context-dev libboost-context1.67-dev libboost-context1.67.0
libboost-coroutine-dev libboost-coroutine1.67-dev libboost-coroutine1.67.0
libboost-date-time-dev libboost-date-time1.67-dev libboost-dev libboost-exception-dev
libboost-exception1.67-dev libboost-fiber-dev libboost-fiber1.67-dev libboost-fiber1.67.0
libboost-filesystem-dev libboost-filesystem1.67-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.67-dev libboost-graph-parallel1.67.0
libboost-graph1.67-dev libboost-graph1.67.0 libboost-iostreams-dev libboost-iostreams1.67-dev
libboost-locale-dev libboost-locale1.67-dev libboost-log-dev libboost-log1.67-dev
libboost-log1.67.0 libboost-math-dev libboost-math1.67-dev libboost-math1.67.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.67-dev libboost-mpi-python1.67.0
libboost-mpi1.67-dev libboost-mpi1.67.0 libboost-numpy-dev libboost-numpy1.67-dev
libboost-numpy1.67.0 libboost-program-options-dev libboost-program-options1.67-dev
libboost-program-options1.67.0 libboost-python-dev libboost-python1.67-dev libboost-random-dev
libboost-random1.67-dev libboost-random1.67.0 libboost-regex-dev libboost-regex1.67-dev
libboost-regex1.67.0 libboost-serialization-dev libboost-serialization1.67-dev
libboost-serialization1.67.0 libboost-signals-dev libboost-signals1.67-dev
libboost-signals1.67.0 libboost-stacktrace-dev libboost-stacktrace1.67-dev
libboost-stacktrace1.67.0 libboost-system-dev libboost-system1.67-dev libboost-test-dev
libboost-test1.67-dev libboost-test1.67.0 libboost-thread-dev libboost-thread1.67-dev
libboost-timer-dev libboost-timer1.67-dev libboost-timer1.67.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.67-dev libboost-type-erasure1.67.0
libboost-wave-dev libboost-wave1.67-dev libboost-wave1.67.0 libboost1.67-dev
libboost1.67-tools-dev libpython3-dev libpython3.7-dev mpi-default-bin mpi-default-dev
python3-dev python3.7-dev
Suggested packages:
libboost-doc graphviz libboost1.67-doc gccxml libmpfrc++-dev libntl-dev xsltproc doxygen
docbook-xml docbook-xsl default-jdk fop
The following NEW packages will be installed:
dh-python libboost-all-dev libboost-atomic-dev libboost-atomic1.67-dev libboost-chrono-dev
libboost-chrono1.67-dev libboost-container-dev libboost-container1.67-dev
libboost-container1.67.0 libboost-context-dev libboost-context1.67-dev libboost-context1.67.0
libboost-coroutine-dev libboost-coroutine1.67-dev libboost-coroutine1.67.0
libboost-date-time-dev libboost-date-time1.67-dev libboost-dev libboost-exception-dev
libboost-exception1.67-dev libboost-fiber-dev libboost-fiber1.67-dev libboost-fiber1.67.0
libboost-filesystem-dev libboost-filesystem1.67-dev libboost-graph-dev
libboost-graph-parallel-dev libboost-graph-parallel1.67-dev libboost-graph-parallel1.67.0
libboost-graph1.67-dev libboost-graph1.67.0 libboost-iostreams-dev libboost-iostreams1.67-dev
libboost-locale-dev libboost-locale1.67-dev libboost-log-dev libboost-log1.67-dev
libboost-log1.67.0 libboost-math-dev libboost-math1.67-dev libboost-math1.67.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.67-dev libboost-mpi-python1.67.0
libboost-mpi1.67-dev libboost-mpi1.67.0 libboost-numpy-dev libboost-numpy1.67-dev
libboost-numpy1.67.0 libboost-program-options-dev libboost-program-options1.67-dev
libboost-program-options1.67.0 libboost-python-dev libboost-python1.67-dev libboost-random-dev
libboost-random1.67-dev libboost-random1.67.0 libboost-regex-dev libboost-regex1.67-dev
libboost-regex1.67.0 libboost-serialization-dev libboost-serialization1.67-dev
libboost-serialization1.67.0 libboost-signals-dev libboost-signals1.67-dev
libboost-signals1.67.0 libboost-stacktrace-dev libboost-stacktrace1.67-dev
libboost-stacktrace1.67.0 libboost-system-dev libboost-system1.67-dev libboost-test-dev
libboost-test1.67-dev libboost-test1.67.0 libboost-thread-dev libboost-thread1.67-dev
libboost-timer-dev libboost-timer1.67-dev libboost-timer1.67.0 libboost-tools-dev
libboost-type-erasure-dev libboost-type-erasure1.67-dev libboost-type-erasure1.67.0
libboost-wave-dev libboost-wave1.67-dev libboost-wave1.67.0 libboost1.67-dev
libboost1.67-tools-dev libpython3-dev libpython3.7-dev mpi-default-bin mpi-default-dev
python3-dev python3.7-dev
0 upgraded, 95 newly installed, 0 to remove and 1 not upgraded.
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Get:87 http://deb.debian.org/debian buster/main amd64 libboost-timer-dev amd64 1.67.0.1 [3,772 B]
Get:88 http://deb.debian.org/debian buster/main amd64 libboost-type-erasure1.67.0 amd64 1.67.0-13+deb10u1 [241 kB]
Get:89 http://deb.debian.org/debian buster/main amd64 libboost-type-erasure1.67-dev amd64 1.67.0-13+deb10u1 [241 kB]
Get:90 http://deb.debian.org/debian buster/main amd64 libboost-type-erasure-dev amd64 1.67.0.1 [3,740 B]
Get:91 http://deb.debian.org/debian buster/main amd64 libboost-wave1.67.0 amd64 1.67.0-13+deb10u1 [436 kB]
Get:92 http://deb.debian.org/debian buster/main amd64 libboost-wave1.67-dev amd64 1.67.0-13+deb10u1 [463 kB]
Get:93 http://deb.debian.org/debian buster/main amd64 libboost-wave-dev amd64 1.67.0.1 [3,676 B]
Get:94 http://deb.debian.org/debian buster/main amd64 libboost-all-dev amd64 1.67.0.1 [3,988 B]
Get:95 http://security.debian.org/debian-security buster/updates/main amd64 python3.7-dev amd64 3.7.3-2+deb10u7 [514 kB]
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user@debian:~/clothoid_3d/build$ sudo cmake ..
CMake Error at test/CMakeLists.txt:35 (install):
install TARGETS given no RUNTIME DESTINATION for executable target "test".
-- Configuring incomplete, errors occurred!
See also "/home/user/clothoid_3d/build/CMakeFiles/CMakeOutput.log". and this flavour of errror ocours during all attempts
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30 Mar 2025 09:23 #325307
by rodw
Replied by rodw on topic LinuxCNC S-Curve Accelerations
This might help the noobs.
This video of mine explains how to build Linuxcnc for a RIP (and Debs)
Ethercat install is here forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step
But once you change the name, it should not matter if a user installed by the Debs. The .so just needs to be installed in the right folder. Perhaps that can be scripted too.
It will be interesting if your planner could be copied to the EMC folder src/emc/grotius_tp and the main make file modified to build it. I did this once for a seperate task module and it took about 15 minutes.
This video of mine explains how to build Linuxcnc for a RIP (and Debs)
Ethercat install is here forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step
But once you change the name, it should not matter if a user installed by the Debs. The .so just needs to be installed in the right folder. Perhaps that can be scripted too.
It will be interesting if your planner could be copied to the EMC folder src/emc/grotius_tp and the main make file modified to build it. I did this once for a seperate task module and it took about 15 minutes.
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30 Mar 2025 09:44 #325308
by endian
Replied by endian on topic LinuxCNC S-Curve Accelerations
I need a calculated acceleration command beside of calculated velocity command which I will send to the servo driver ... But acceleration is non constant value in the time I think and therefore I think I need some spline element which will calculate them?Hi,
Ok. We will rename it to : grotius-tp.so
@Endian,
It's still unclear to me what you exactly need.
1. A linuxcnc single axis component that generates a scurve motion, given a target position, maxvel, maxacc, maxjerk.
2. A multi axis pid for linuxcnc that generates motion given target position, maxvel, maxacc, maxjerk.
3. Something else.
Making a pid from a scurve is possible. I am a bit concerned about the following error, but we will see how it works out.
Yesterday, i got messaged by 2 people who have installing problems to enable ethercat & scurve on their linuxcnc iso installation.
Most off the users don't have the skills to install a rip installation, etc. So they have in fact a problem running our software.
It will take them hours & hours to get some install results.
To resolve this, i think i will make a .iso distribution today.
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30 Mar 2025 09:49 #325310
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
@Endian,This is only downloading the clothoid3d source :
user@debian:~$ git clone codeberg.org/skynet/clothoid_3d.git
Check the readme install file, follow the steps :
install readme file
First step :
git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact
Install all:
/cmake/./patch
/cmake/./installer
Or if you want to install it on a linuxcnc clone you already have running:
1. copy cmake dir to your local clone.
/cmake/./patch -> or patch files manually : patch manual
recompile your linuxcnc clone
/cmake/./build_cmake
user@debian:~$ git clone codeberg.org/skynet/clothoid_3d.git
Check the readme install file, follow the steps :
install readme file
First step :
git clone --recurse-submodules codeberg.org/skynet/linuxcnc_scurve_compact
Install all:
/cmake/./patch
/cmake/./installer
Or if you want to install it on a linuxcnc clone you already have running:
1. copy cmake dir to your local clone.
/cmake/./patch -> or patch files manually : patch manual
recompile your linuxcnc clone
/cmake/./build_cmake
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30 Mar 2025 09:52 #325311
by Grotius
Replied by Grotius on topic LinuxCNC S-Curve Accelerations
@Endian,
When you run the scurve in linux. The joint.[x].... hal outputs already show you position, velocity, acceleration that is
usable for your servo drive. The halscope shows a acceleration curve that is indeed not constant.
When you run the scurve in linux. The joint.[x].... hal outputs already show you position, velocity, acceleration that is
usable for your servo drive. The halscope shows a acceleration curve that is indeed not constant.
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30 Mar 2025 12:38 #325319
by endian
Replied by endian on topic LinuxCNC S-Curve Accelerations
Yes it should be from there but it has that G64 P.. aproximation stuff and when I am not soo satisfied from it, it is better to use your TP with precise values of of it or?@Endian,
When you run the scurve in linux. The joint.[x].... hal outputs already show you position, velocity, acceleration that is
usable for your servo drive. The halscope shows a acceleration curve that is indeed not constant.
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