Dear all,
I have a question regarding the cubic spline interpolation.
When I reading the source of src/emc/motion/motion.c, I found the
cubic spline interpolation segment time is set to be servoCycleTime
(usually servoCycleTime=1 millisecond, TrajCycleTime=10 millisecond).
static int setServoCycleTime(double secs)
{
//////////////////////////////////////
/* set the cubic interpolation rate and PID cycle time */
for (t = 0; t < EMCMOT_MAX_AXIS; t++) {
cubicSetInterpolationRate(&(joints[t].cubic),
emcmotConfig->interpolationRate);
cubicSetSegmentTime(&(joints[t].cubic), secs);
}
/////////////////////////////////////
}
Also in the src/emc/kinematics/cubic.c, The cubic spline interpolation
time step (ci->interpolationIncrement) is defined as
int cubicSetInterpolationRate(CUBIC_STRUCT * ci, int rate)
{
//////////////////////////////////////////////////////////
if (ci->configured == ALL_SET) {
ci->interpolationIncrement =
ci->segmentTime / ci->interpolationRate;
}
//////////////////////////////////////////////////////////////
}
MY QUESTION IS:
Suppose that
trajCycleTime =10 milliseconds,
servoCycleTime =1 millisecond,
interpolationRate=trajCycleTime / servoCycleTime=10,
Is it true that cubic spline interpolation time step is 0.1
millisecond? Can the time step equal to servoCycleTime?
Can anyone kindly help me to understand?
Xuecheng
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