scurve trajectory planner

Hello,

It's solved.
Git is updated.

@Evgen can replace or overwrite the tp_scurve.c from codeberg.
Then do a recompile for cmake : ./buid_cmake

The problem:
    In control.c Line 1867 it looks for 2 types :
    EMC_MOTION_TYPE_FEED
    EMC_MOTION_TYPE_ARC

Clothoid motion was giving no type.
Then the clothoid motion is now set to type EMC_MOTION_TYPE_FEED in the planner.

Now the motion.feed-value flippering is not there anymore.

Hello,
I've been waiting for this feature for a long time and I'd like to test it out. Is it compatible with Debian 10 + LinuxCNC v2.8.4?

I tested it. The problem is solved. I'll corect my post for automatical addition right P value, but it's interesting task, how calculate it.
And another question. How can I make deb package with new planner?

@HalaszAttila,

Mabye just give it a try on a LinuxCNC v2.8.4 version.
The repository has info how to install, patch.
Maybe others can help to setup a vm and test it for you, as my vm is broken at the moment.

@Evgen,
That is not possible unless you edit the source in the ~/debian dir.

For shipping software, you can considering using ~/opt/linuxcnc as the installation dir for a .deb package.
Creating a .deb package from linuxcnc that installs in ~/opt/linuxcnc dir is clean way to go.
 

Hi all,

Today a new feature is added to the planner.

Jog in pause state.

It captures keyboard buttons for xyz axis in pause state.
This feature should work for every used linuxcnc gui, axis, gmocappy, qtvcp, etc. The whole mickmack.
When resuming the motion, the xy is running back to pause-pos, then the z is running back to pause-pos.

Next feature is tangential knife.
Will do that next time.

It captures keyboard buttons for xyz axis in pause state.

This is a cool feature but IMO the use of keyboard keys for jogging is rather unfortunate. There have been several calls to move away from keyboard jogging. Why not use one of the existing hal pins like 'halui.axis.L.minus', 'halui.axis.L.plus' or better yet create dedicated hal pins for jogging while paused.

This is awesome!! Great work to everyone involved.

I agree with Aciera - keyboard jogging is way at the bottom of the list. I have many large machines that are never jogged by the keyboard.

sam

Hi Guys,

Thanks for feedback.

Now we added hal pins for jogging xyz in pause state.

The halui pins are unreachable from within the tpmod component.
Then tpmod has it's own hal pins for jog in pause.
 

For the one's who still want to do keyboard jogging in pause state, like plasma cnc's  :

• enable the jog keyboard hal pin.

This to prevent unwanted moves by accident.

Hi all,

Today we added another feature to the scurve planner : tangential knife

The planner outputs a hal float value in degrees.
This rotational value can be used by tangential knife machines to direct the knife in
the vector direction of the trajectory.

 

I did a quick test on my non-rt installation running 'cmake/nc_files/fillet/square_100x100_P5.ngc'.
1. it seems that inital deceleration and final acceleration along the fillet do not respect max_acceleration settings (50 for x in my case)
2. there seem to be acceleration spikes while traversing the fillet

Below is the captured accelerations for X and Y for the first corner of the rectangle: