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Hi Grotius,

where are you stuck with equation 40? the thetas you already have from the prev equation (39) and the tilded x" y" z" are the transformed derivatives of the starting and end points. If we connect with lines they are all 0 eq. (26). With arcs they are given by eq. (30) + transformation.

bring your remora related discussion into this thread

www.forum.linuxcnc.org/18-computer/42276...rocontroller-via-spi

and upload your hal/ini files using the forums attachments please

Guten Abend, ich habe die INI, HAL und XML configrutaion in meine neue maschine kopiert, ist momentan nur ein Motor angeschlossen um diese zu testen. Leider bekomme ich folgende Fehlermeldung. Welche eintsellung muss ich zusätzlich an den Endstufen vornhemen ?
Gruß Tom

I spent some hours..

1) flashed the octopus MCU with dfu-util
2) draft version of HAL and INI files done
3) wiring pi5 correctly to the octopus
4) pi5 is running remora flexi os

The error is from linux cnc when it loads my config: joint.5.scale pin doesnt exist. If I do a show pin with halcmd it shows a bunch of joints unit joint.4.

HAL file
INI file

@Fabian,

Most of the math of Frego is already inside the 2d clothoid library.
There it solves the clothoid G2 problem using 3 connected clothoids.
As later on discussed on github, adding the z component to the xy was proposed by using the Frego 3d paper.

The new paper is for me more understandable.

I have noticed in the new paper, that the 2 gcode segments are transformed to a null plane first.

This same approach i used before when we construct a clothoid when 2 gcode segments share same plane.

Then the 2 gcode segments in 3d space are transformed to xy plane, clothoid is build in xy plane, clothoid + gcode segments are
transformed back to original 3d space position. This worked flawless.

So this part of the paper, we can almost skip. As we know the mathematics for it.

Attached a few files where i tried to implement paper equatations. They may contain wrong approaches.

For now i am stuck at eq.40.

@Collins,
Maybe this is the same as starting with a bspline from segment a to segment b. Then manipulate the spline trajectory
to get a G2 result and apply a clothoid property like
"a curve whose curvature changes linearly with its curve length"

I cannot say anything about your analog predicion machine, as i can't imagine how to appy it to our work.

 

I went with
net x-fault => joint.0.amp-fault-in <= hm2_7i96s.0.inm.00.input-04
so I get an error on x for all my axis. Because I wired all alarms in parallel. Which is absolutly fine. As long as the machine stops on any error

Almost sounds like orients addf is missing (or some of its control pins are not in the correct state)

Played around with orient a bit and it seems to behave as expected:

Before orient enable:

 


After orient enable rising edge:

 

Note that the command has been rounded to the nearest whole number of turns
and the error shows the current difference of the angular position from the orient angle

The only odd thing I noticed is that the orient angle is latched on the rising edge of orient enable
so cannot be changed after orientation begins.