Hal s-curve component for download. loadrt DoFs[x]

Hi,

To use with lcnc or hal-core, the ruckig trajectory library.
- Independent DoFs.
- No synchronisation between DoFs.
- Standard up to 16 DoFs.

Hal example:
github.com/grotius-cnc/hal-core/blob/mai...ponents/dofs/runtest

Compiled Amd64, Copy to /rtlib:
github.com/grotius-cnc/hal_core/blob/main/rtlib/dofs.so
github.com/grotius-cnc/hal_core/blob/main/rtlib/libdofs.so
github.com/grotius-cnc/hal_core/blob/main/rtlib/libdofs.so.1
github.com/grotius-cnc/hal_core/blob/main/rtlib/libdofs.so.1.0
github.com/grotius-cnc/hal_core/blob/mai...lib/libdofs.so.1.0.0

Grotius wrote:

- No synchronisation between DoFs.
 

Does this mean that it does not make coordinated moves? 

Hi Andy,

When doing a combined move for xyz (dof.0, dof.1, dof.2) for example.
The result is that xyz will not end together at same time.

This interpolation step (synchronisation of multiple DoFs) can be a single DoFs for path planning at the front-end.
This front-end DoFs then has to be given the logic to do a lineair and circulair interpolation over the gcode path.



 

hey thanks for making it relatively easy to try. steconf or pncconf test should be easy to tie into and test real hardware.
Just for comparisons sake.

Hi,

You can actually implement the s-curve DoFs already in a real machine.
Just put it between the commanded position and a stepgenerator or pid.
Then your mill or plasma machine will run partially a s-curve motion profile.

[Edit]
I now have the synchronized s-curve component ready, configurable for multiple dofs.
It works best with max 3 DoFs at servo thread 1ms.
github.com/grotius-cnc/hal-core/tree/mai...mponents/synchrodofs