Trajectory Planner using Ruckig Lib

Looks _very_ good!
Is this all happening in user-space so far (including the velocity planning)? If so does this output a GCODE file?

This file has ~12500 lines of gcode.Used G64 P0.5 Q0.5
red=3d velocity profile
white=line
purple=clothoid fillet
cyan=spline fillet

 

It's now almost time to test the results on a realtime kernel.
Let's work on to that.

For a letter test:
Original input G64 P0 Q0.5
 
Input G64 P5 Q0.5
The spikes from the velocity profile are gone !

Hi Arciera,


Is this all happening in user-space so far (including the velocity planning)? If so does this output a GCODE file?
Yes, this is all done on a non realtime kernel at the moment. Including the velocity planning indeed.

Currently i have no logic to output a optimized gcode file, but it is certainly possible.
How relevant is this option at the moment?
We could also add a scurve path simulator to the user side.

Then the kernel motion code, can be centralized in a c++ class, then both the user side and kernel side can use
this code to run the program. This is just an idea.

How relevant is this option at the moment?

Not relevant, I was just wondering if I could run the output on a simulator.

Hi Arciera,

I can write gcode file output tomorrow, but clothoids & splines must then be converted to a G1 linestrip.
Then the overall output is G1,G2 or G3.
Is this ok for you?

Don't worry about it, it's really not important.

Hi Arciera,

Ok, I will not worry about it.

I tried a free gcode file, a griffins logo. File about 14000 lines.
www.cnccookbook.com/g-code-examples-file...for_Milling_Machines

In the file no G64 P.. Q.. was given. Raw output :
 

Then i added G64 P0.1 Q0.1
The output : 


Then without the velocity display :
 

The purple are all clothoids. Cyan is spline, White is line.

File specs :
items G64 P.. Q.. before:14151 after:28292 diff:-14141
So the gcode file is increased by 14141 segments.

Maybe test some more files?

 

Hm, as usual I'm concerned about unwanted path distortion:

 

I presume these splines were added by the algorithm, if so it seems like a lot of distortion for 'G64 P0.1 Q0.1'?

Hi Arciera,

That is the result of using a 0.1 fillet.
Here is a 0.01 fillet for comparishment.

 

I understand that lowering the value will create smaller deviations. What I'm concerned about is the predictability of the maximum deviation a certain G64 Pn Qn command is going to produce as knowing this is crucial for CNC application.
I know we've had this discussion before but if 'G64 P0.1 Q0.1' means a maximum path deviation of 0.1 mm then those white GCode lines would have to be 0.1mm apart which seems a bit hard to believe (but of course I do not know for sure).