Trajectory Planner using Ruckig Lib

You extended the G5 2d cubic spline to 3d?

Hi Arciera,

So if I understand you correctly you are planning on approximating the 3d clothoid fillets with the G5 spline gcode?
For what i have seen, is that a spline is a shorter, cq sharper curve between 2 points than a clothoid.
I have been thinking if we could change spline characteristics to approx a clothoid, but i don't know for now.
And we can use the spline  to solve the 3d clothoid fillets. like a helix to line fillet, or helix to arc fillet etc. All the fillets that
are out of plane we can use the spline for now. If we have the 3d clodhoid algo available, we just change the algoritme to use a 3d clothoid.

You extended the G5 2d cubic spline to 3d?
I used a 3d spline 3-degree. It's a standard spline curve available in opencascade library.
For motion a 5-degree or a quintic spline is maybe better, but we have to find out when we are going to do the look ahead.
Then calculating speeds become's essential.

Left to do is create the interpolation function for a helix.
Then i will do the path blending function.

At this moment, we have played along with tooldir blending, we could see if the result was valid in our graphics output.
This all is done in c++. This c++ code is runned from userland. Now the nice thing is, the kernel module uses
excact the same c++ functions. There is no code duplication or translation to c needed. Therefore the kernel
also opens the gcode file, read's it, parses it, loads data into memory etc. (In lcnc the gcode data is streamed from userland to kernel, in hal-core, kernel loads gcode itself.)
In userland, we only need the graphics, the rest of the memory is released, in the kernel we don't need the graphics,
there the graphics memory is released, so the program turns out to be memory efficient at runtime.

 

Remember not to get side tracked away form the core g1/g0 paths. this is how this quest always dies, trying to get to broad or advance, following every little side case.

g1, g0 exact stop moves. get that solid and reliable. helixes can come later.

Hi,

g1, g0 exact stop moves. get that solid and reliable. helixes can come later.
Yes get the program solid.

Ok i was on another linux distro trying to get the appimage to run.
It turned out the best way to compile it was from the /opt dir. As this dir is always the
same at linux.

Can someone verify if this pop ups a program?
If it does, first input configuration values for jog axis.
filetransfer.io/data-package/wvAnmLrd#link

I want to stop at github as it now requires 2 steps inlog sheme. I dont like this at all.
So any idea's for new code share alternative?

Tommy,

This is alternative example : codeberg.org/tok/libreStove
Looks ok to me, and it's free.

It seems ddns is free. Then you can setup a nas to run a public git server, or a website, forum etc.
Then the url would be something like : 

Hi there, nice work the s curves look nice on the videos on youtube. I would like to work on this too. What is the state of the merge with the main branch? i see the last commit was 4 months ago on the branch of Grotius, how are things going? what can i do to help?

Hi Jdowsonjr,

The project has moved from github to codeberg. The reason is the required 2 step verification github requires from it sheeps.

codeberg.org/skynet/hal-core.git

i see the last commit was 4 months ago on the branch of Grotius
Yes, i can't use this account anymore.

how are things going?
Currently working on the path deviation algoritme that processes the G64 P.. Q.. gcode values.

what can i do to help?
Validate if the app-image runs : filetransfer.io/data-package/wvAnmLrd#link

Then you could try to build & run the application from source.
Use qt to load the project by opening the cmakelists.txt file.
Then look around and get an idea how things are done. Then you can start adding code to the
subject you are interested in.

I just tried the app-image on a new bookworm installation, Here is what I get;

Hi Arciera,

On my pc : libc6 is already the newest version (2.31-13+deb11u10).

Thanks, and will it run after this: