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  • Grotius
  • Grotius's Avatar
18 Mar 2025 14:02
Replied by Grotius on topic scurve trajectory planner

scurve trajectory planner

Category: General LinuxCNC Questions

Hi all,

Today i did a test using the clothoid algo.

It turns out, when doing a fast clothoid fit, (using deviation as trim dist) this takes around 0.5ms.
Everything is going well.

When using the excact clothoid fit method, it takes time up to ~200ms when it has difficulties to find a fit.
I will find a solution for this later on.

Most off time the clohtoid fits are ok. I have seen cases where the clothoid fit result looks like overfitting.
This could be investegated later on.

Here some 3d clothoid fit examples. Using look ahead = using endvel.
So far i am happy with the results.

 
 
 

Github is updated.
  • Aciera
  • Aciera's Avatar
18 Mar 2025 13:48
Replied by Aciera on topic Migration von 2.8.4 auf 2.9.4

Migration von 2.8.4 auf 2.9.4

Category: Deutsch

Was kann ich von der alten Konfiguration weiter verwenden, was muss ich anpassen und was muss neu erstellt werden?

Um zurück zur Frage zu kommen würde ich wie schon erwähnt mal probeweise die neue Version auf eine zweite festplatte installieren und deine jetzige Konfiguration mal laden dann kann man auch gleich auf konkrete Fehlermeldungen eingehen.
  • Aciera
  • Aciera's Avatar
18 Mar 2025 13:41 - 18 Mar 2025 13:43
Replied by Aciera on topic M19 and spindle-index-enable issues

M19 and spindle-index-enable issues

Category: Advanced Configuration

@scda

The only thing I changed is: uncomment "is_oriented = 0" (otherwise I was not able to run multiple M19 commands in a row).


After digging out my config from back then I notice that I made the same change.

Yes that's the issue with the M19 command. But could probably be changed in a new release ??

thanks for confirming that as I thought I was missing something and yes that could indeed be changed.

What makes me wonder is why  constantly forcing index-enable low does not cause a problem for you.
  • Aciera
  • Aciera's Avatar
18 Mar 2025 13:30 - 18 Mar 2025 13:34
Replied by Aciera on topic M19 and spindle-index-enable issues

M19 and spindle-index-enable issues

Category: Advanced Configuration

@andy, seems I have missed your reply:

The point of IO pins is to only write any state to them when you want to set the state, and let other parts of the net be in charge at other times.


Looking at your code for case 0, which is the initial state, you are setting 'index_enable = 0' so this version of the component permanently forces 'orient.index_enable' low until an orient command is issued (ie 'orient.enable' goes true):
    case 0: // waiting
        index_enable = 0;
        if (enable) {
           if (enable ^ last_enable) {     // positive edge on enable
               is_oriented = 0;
               if (mode & 0x10){
                   index_enable = 1;
                   state = 3;
               } else {
                   state = 1;
               }
           }
        }
        break;

 Your code looks like it will always set index_enable true?


No, my version forces homing to index because the mechanism with adding 16 to the p word does not work and 'orient.index-enable' is not written to unless spindle orientation has been called (ie 'orient.enable' is true) because 'index_enable=0' is now inside the if (enable) { statement.
    switch (state){
    case 0: // waiting
        if (enable) {
        index_enable = 0;
           if (enable ^ last_enable) {     // positive edge on enable
               is_oriented = 0;
               if (1>0){
                   index_enable = 1;
                   state = 3;
               } else {
                   state = 1;
               }
           }
        }
        break;
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