scurve trajectory planner

Wow! What can I say.
Today I "install" it. Thanks to your good work it was a piece of cake (and I am a linux noob btw.).

Tested the given sim machine and everything worked out well. Cant wait to test it on real machines.

Can we just hold on a minute and realise what Grotius did! What an amazing, not to say limit breaking, work he did. Well, well done Grotius!

Thank you for your work for the community.

Ohhhh sorry! I am just overwhelmed.

I want to thank all you other guys who helped with this also! Well done. Great community!

juliankoenig87 wrote:

Can we just hold on a minute and realise what Grotius did! What an amazing, not to say limit breaking, work he did. Well, well done Grotius!

At the risk of repeating myself:
Grotius is like a heat seeking missile, he locks on to something and does not stop!
Thank you Grotius.

Hi Guy's,

@Tommy @juliankoenig87
Thank you all for kind words.

I think the scurve planner also works on plasmac now, As Joco solved this.

I am very curious to the video off Lcvette. He has a nice machine to test it.

@dm17ry, Fixed the typo, thanks for reporting.

Just for information. How and where should we report issues and questions?

Is this thread the right one (or one of the older/other ones)?

I understand all pins and parameters with one exception. Can you give me a short overview about hal_blend_speed? I dont get curvature vs. gcode... First of all I dont know the meaning of the word curvature (ouch)

@Julian,

Hal blend speed is a special feature, Mr. Lcvette requested this feature a while ago.
Blend speed can be used to tune a machine to it's inertia limits.

The blend is the fillet (rounding) between 2 trimmed (shortened) gcode lines (segments). Given the G64 P[..] value.
The blend speed is a factor value "0-1".
The blend speed is used to tell the planner how to behave at the blends, focussing on blend speed.
Curvature is the ammount off roundness of a arc or circle. It is related to the radius.
Based on curvature -> radius, the blend speed is calculated by mathematics.

-> hal_blend_speed
minimal value : 0.0
maximal value : 1.0

Example :
hal_blend_speed 0.0 = use blend speed based on curvature only. (safest way of running the machine, lowest output speed)
hal_blend_speed 0.5 = use 50% speed based on curvature, use 50% speed based on gcode feed.
hal_blend_speed 1.0 = use gcode feed only. (can become risky, machine may run beyond inertia limits, highest output speed)

On youtube there is a video, where you can see the difference at runtime on a real cnc machine.
Later on in the video the hal_blend_speed is set to 1.0 at time 5:51
video link

Then you can for example tune your machine to a hal_blend_speed : 0.85
This then you can edit in the source code and recompile. Then it becomes a startup value.
fill in blend speed here.