Trajectory Planner using Ruckig Lib

Some testing done.
Linucnc plasma test file, Metric Spanner.  Acceleration 3000mm/s/s, Feed rate 7000mm/min.  max_jerk=6000

Standard Planner
Notice the vibration in the torch head from the sharp changes at high acceleration.


S-Curve
Notice the pauses at various points.  These are very bad for plasma and on spinning tooling (mills) will cause rubbing and will dull tools.


S-Curve freezing - requiring power cycle of mesa card and PC to get working again:

 

please let me know what else I can look at or if you need some kind of logs captured

cheers - J

In your screen dump I noticed nan = not a number so perhaps a null pointer has been passed.
I was a bit disappointed  with the pauses when cutting. I suspect that they may be due to our implementation. The Plasmac spanner is a very simple file.

Hi,

Thanks for testing.

Notice the pauses at various points. 
Yes between the moves the pause could be less.

This can mean a few things :

- Somewhere a delay is given between 2 gcode segments, like Rodw is mentioning.
  But i suspect that is not the case.

- Scurve software need a tiny end velocity between 2 paths, wich is currently not present in the planner.

Todo: check If the scope is not showing the delay between the moves.

S-Curve freezing
This "nan" message is clearly a tiny error and will stop your program and so on.
But is quite easy to solve in next github update.

As for my conclusion, it's not bad for Joco's first attempt.
I would see 4 things changing, like solving the snerping sound in Joco's machine,
remove pauses between moves, solve the nan error, solve the cmake installation.


 

Grotius wrote:

 solving the snerping sound in Joco's machine, 

I had to put headphones on to hear the snerping sound! image missing /media/kunena/emoticons/sick.png
I wonder if its harmonics induced by jerk limited velocity or something loose?

@Joco,

When the isnan occured, i suspect you did a mdi move for a given arc?
Do you remember the given gcode that caused the isnan? Thanks.



 

thanks
sucess build after build orginal linuxcnc 2.10

i will try test with real machine then report

regards