Advanced Search

You might set the MIN_FERROR larger when tuning:

MIN_FERROR = 0.005

@ihavenofish,

how does it deal with tangential motion that exceeds acceleration abilities?
We calculate the max segment velocity based on curvature extrema and maxacc.
The implementation of this funtion is here.

I agree that deviation is the key. And the possibility to blend out multiple segments respecting path deviation.

Concern:
Today i experienced unwanted interpreter behaviour. I did know the problem was there, but forgot about it.

1. When no G64 Q[x] value is given, the interpreter removes tiny segments on it's own, replacing arc's with line's etc.

In the case of our planner, we have to always use the combination G64 P[x] Q[0.0] to prevent this behaviour.

This behaviour can also been seen on page 3.
The examples made by Hmnijp used no G64 Q[x] value. And planner did remove segments on it's own,
replacing arc by lines etc. Trimmed segments are clearly off path, wich is not ok.
It shows exactly the problem. If Hmnijp used a G64 Q0.0 value, the result would be very different.

Now i added this as a note to the planners readme file, that users including myself are aware of this, and don't forget about it.

With no G64 Q[x] value, we get unwanted interpreter input:
 

Using G64 Q0.0, we get what is to be expected from interpreter: