On Sun, Apr 29, 2012 at 08:12:03AM +0800, Yishin Li wrote:

> In my experience, the "target positioning" is the most complicate part of
> the whole S-Curve algorithm.

Yes I can definitely see this.

> Is there a test script to altering feed_override while running program in
> auto_mode?

I can't think of a good automated way to do this.  By setting the
constraints very low, you would be able to have a move that takes a
long time in each stage.  Then you could change feed override at
those times, with halscope in "Roll" mode or with it set to trigger
on a constraint violation, using something like this hal file:

http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=configs/sim/check_constraints.hal

of course you'd expand it one more derivative to also monitor jerk.

> Thanks for your help.

Welcome!

Chris

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