PathPilot V2 source code

Maybe a more-fun project would be to make the 9-axis blending work with LinuxCNC.

github.com/LinuxCNC/linuxcnc/tree/Tormach_9_axis

This was just an experiment to see what happens if you replace the LinuxCNC tp folder with the Tormach one.

I haven't even bothered trying to compile it, the point is to examine all the points of difference by looking at the diff:

github.com/LinuxCNC/linuxcnc/pull/3524

This is still not the build with the jerk limiting right?

It's not, but I think a good step 1 is to add the 9 axis blending, and then step 2 would be to look at those changes. It would probably be easier to implement that way.

automata wrote:

I am not really looking for the pathpilot UI.
The Tormach version has look ahead applied on all 9 axes (as opposed to only XYZ for vanilla linuxcnc v2.9).
Also I wanted to see if they have applied the dpll patch needed to operate Ethercat drives with lower jitter ( github.com/sittner/linuxcnc-ethercat/blo...-functions-2.8.patch ). My conclusion on this front is that they have not.
Further they sent over non-compilable code - there is a bunch of uncommented FIXMEs and TODOs littered over the code and it does not even compile.
So Tormach is definitely not playing by the rules of GPLv2.
And it uses python2 (and python3 in some places) to the point that it is not compilable on Bookworm. Neither it is compilable on Stretch.
-automata

Earlier in this thread you said you got 2.9 to compile. I am wondering a few things:
1. What steps you took to get that to work?
2. What version are you working with currently?
3. I wonder what the last version that would compile would be assuming you did get v2.9 to work.

The 9 axis look ahead should be in v2.9, so if you can make that compile, then it might be a start, and worth doing something like Andy did to see what all is different and go from there?

Just thinking out loud.

ihavenofish wrote:

This is still not the build with the jerk limiting right?
 

Does PathPilot have jerk limiting? Or are you talking about the Grotius version? 

I have not gotten the tormach V2.12 version of linuxcnc to compile.

I have one Tormachs earlier versions (V2.10) to compile on Debian Stretch. 1. It has the 9 axis lookahead.
2. It does not however account for sittner's PLL patch which is extremely useful for Ethercat distributed clocks when used with a Preempt-rt Linux kernel.
3.This version also does not differentiate between Joints and axes as Tormach has forked linuxcnc before the joints-axis patches were finalized.

I have v2.9 of Linuxcnc compiled and running on Debian Bookworm.

-automata

From what I am seeing in the Tormach V2.12 branch, it does not have jerk-limiting.
That is a grotius only special (and tormach is forbidden from using it ( codeberg.org/skynet/linuxcnc_scurve_comp...ter/cmake/LICENCE.md ).
-automata

andypugh wrote:

ihavenofish wrote:

This is still not the build with the jerk limiting right?

 
Does PathPilot have jerk limiting? Or are you talking about the Grotius version? 

I may have muddied the waters a bit, when I talked of the different versions, I thought maybe we were talking about their addition of “high speed machining” and possibly over generalizing it as Jerk Limiting.

automata wrote:

I have not gotten the tormach V2.12 version of linuxcnc to compile.

Seems to be the consensus.

I have one Tormachs earlier versions (V2.10) to compile on Debian Stretch.

Do you have steps to make this work that you are willing to share?

Do you think this would compile on Bookworm?

I have v2.9 of Linuxcnc compiled and running on Debian Bookworm.

Do you have steps to make this work that you are willing to share?

3.This version also does not differentiate between Joints and axes as Tormach has forked linuxcnc before the joints-axis patches were finalized.

Yea, that seems to be a lot of the complication with incorporating their 9 axis look ahead into our code base.

I am looking to first make a guide of sorts of re-producible steps to compile 2.10 (and 2.9 if they are vastly different, and then I would like to look at what is missing/divergent to get 2.12 to compile. From there, I would like to ask Tormach for the missing pieces (if any) and go from there.

These patches probably are no longer required given Scott Laird maintains the source of truth for our ethercat driver (and the patches folder is gone)
github.com/linuxcnc-ethercat/linuxcnc-ethercat