Trajectory Planner using Ruckig Lib

This file has ~12500 lines of gcode.Used G64 P0.5 Q0.5
red=3d velocity profile
white=line
purple=clothoid fillet
cyan=spline fillet

 

It's now almost time to test the results on a realtime kernel.
Let's work on to that.

For a letter test:
Original input G64 P0 Q0.5
 
Input G64 P5 Q0.5
The spikes from the velocity profile are gone !

Hi Arciera,


Is this all happening in user-space so far (including the velocity planning)? If so does this output a GCODE file?
Yes, this is all done on a non realtime kernel at the moment. Including the velocity planning indeed.

Currently i have no logic to output a optimized gcode file, but it is certainly possible.
How relevant is this option at the moment?
We could also add a scurve path simulator to the user side.

Then the kernel motion code, can be centralized in a c++ class, then both the user side and kernel side can use
this code to run the program. This is just an idea.

Hi Arciera,

I can write gcode file output tomorrow, but clothoids & splines must then be converted to a G1 linestrip.
Then the overall output is G1,G2 or G3.
Is this ok for you?

Hi Arciera,

Ok, I will not worry about it.

I tried a free gcode file, a griffins logo. File about 14000 lines.
www.cnccookbook.com/g-code-examples-file...for_Milling_Machines

In the file no G64 P.. Q.. was given. Raw output :
 

Then i added G64 P0.1 Q0.1
The output : 


Then without the velocity display :
 

The purple are all clothoids. Cyan is spline, White is line.

File specs :
items G64 P.. Q.. before:14151 after:28292 diff:-14141
So the gcode file is increased by 14141 segments.

Maybe test some more files?

 

Hi Arciera,

That is the result of using a 0.1 fillet.
Here is a 0.01 fillet for comparishment.