Trajectory Planner using Ruckig Lib

2 years 11 months ago - 2 years 11 months ago #285674 by Joco

Replied by Joco on topic Trajectory Planner using Ruckig Lib

Grotius wrote:
Skynet presents : tpmod_T800
Scurve, using velocity ends, look ahead.
This is fun.

Don't forget to book it in else I can't run up a test on real h/w. :-)

Unless there is some more to do before that h/w test is viable.

Last edit: 2 years 11 months ago by Joco.

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2 years 11 months ago #285678 by rodw

Replied by rodw on topic Debian 12 - 2.9.1 image for the Raspberry Pi 4b/400

Yes push it please Grotius. We all want to see it on real hardware.

MAybe you will have to place an embargo on JoCo until you get it on your table

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2 years 11 months ago #285723 by Grotius

Replied by Grotius on topic Debian 12 - 2.9.1 image for the Raspberry Pi 4b/400

Hi,

Github is updates.
Joco, enable ve by setting the hal pin.

I thought to blend the rapids. I think this makes some sence.

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2 years 11 months ago #285733 by dm17ry

Replied by dm17ry on topic Debian 12 - 2.9.1 image for the Raspberry Pi 4b/400

doesn't non-zero end velocity lead to infinite jerks?

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2 years 11 months ago #285746 by Grotius

Replied by Grotius on topic Debian 12 - 2.9.1 image for the Raspberry Pi 4b/400

This is indeed a problem, i think if Joco test this on his machine he can get a following error.

velocity end=0

velocity end=1, here you see a vel-cmd jump.

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2 years 11 months ago #285758 by Joco

Replied by Joco on topic Debian 12 - 2.9.1 image for the Raspberry Pi 4b/400

Interesting graphs with the velocity commands diverging. Do we know why that is happening?

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