Hi Dave,
Looking at that example, am I right in assuming that velocity and acceleration and speed are either handled with the stepgen module or by feeding in small chunks of movements to the kinematics module?
Yes, stepgen handles that in the example.
I did not see any speed/velocity pins in the kinematics module so I am assuming that it takes the XYZ request and gives the J0-J5 end positions instantly?
Yes, the kinematics only calculates the positions visa versa.
For hal-core i am busy with the scurve library for several day's now.
The ruckig scurve lib has some problems:
- In a realtime 1ms kernel powered thread bringing back the current velocity to 0.001 will crash at longer paths.
- End velocity accuracy out of control when crossing waypoints.
- When end velocity can not be reached, ruckig end velocity value is 0 instead of value at end of path.
My own scurve lib is able to cross the waypoints with perfect endvelocity. But... it had no realtime velocity transition
under the hood.
So i started for the third time coding my scurve lib.
Now hoping to get everything ok within a few day's. I think i make a flag so lineair transition can be added in the
scurve between the concave and convex period. This makes the machine even faster as a normal scurve.
A period of lineair transition is all the time "2* max acceleration".
The picture shows the front curve, using a concave and convex period.
The curve can do a acceleration start value, and a acceleration end value.
I am coding it as stand alone c/c++ compatible library.
