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I don't think these gamma values look right:

Heya Seth,

would you maybe provide me the other files of your config? So I could take a look on how to set my machine up?

This would realllly help me out- it's been a while since my last setup !

THanks for any help!!!!

BR

I can't quite tell from your repo so you may already have but just in case:
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.

 

This is really a milestone for us !!!

Indeed! Congratulations.

However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.

Is eq 45 in the loop yet?

It checks your method and shows no error. I will try to turn on linuxcnc and control from the servopack to read a higher speed and exclude the encoder reading.
Because it still seems to me that it is not related to the encoder reading but to the analog power supply.
What still surprises me is that if I drive the axle in the positive direction, I can achieve 10 m/min, and if I drive the axle in the negative direction, 8.3 m/min.