Hi Sam, I've made a bunch of improvements here:
https://github.com/robEllenberg/linuxcnc-mirror/ tree/circular-blend-arc-alpha Thanks to your feedback and some extensive fiddling, this version is a bit more robust in terms of smoothness and constraints. All of the tests in my dropbox folder with the exception of arc-arc.ngc don't violate acceleration constraints in my test runs. Your GUI extension was useful for that! The monitor makes it not necessary to watch the screen every second, which saved a lot of time. The test cases and configurations (based off of your configs, with some of my own changes) are here: https://www.dropbox.com/sh/jojh7sw24gf9kzd/V64_EGD7aH If you get the chance, try out a few examples on this version and see if you can break it. Thanks! Rob On Mon, Nov 18, 2013 at 7:10 AM, sam sokolik <[email protected]> wrote: > any updates? :) > > thanks > sam > On 11/13/2013 2:48 PM, Robert Ellenberg wrote: > > That's really handy! It would be really helpful to know if a particular > > test failed, so I don't have to dig through a whole log file if nothing's > > wrong. How did you implement it? > > > > > > On Wed, Nov 13, 2013 at 3:41 PM, sam sokolik <[email protected]> > wrote: > > > >> Maybe something like this might help for initial testing? > >> > >> http://imagebin.org/276898 > >> (notice the z) > >> > >> http://imagebin.org/276900 > >> > >> Not pretty.... > >> > >> sam > >> > >> On 11/13/2013 6:31 AM, sam sokolik wrote: > >>> I cannot contribute programmatically... So I test.. And all things > >>> trajectory planner/motion excite me for some reason. :) > >>> > >>> The basic config is here > >>> http://electronicsam.com/images/KandT/testing/circblend/ > >>> > >>> the hal file check_constraints.hal is a modified to the 500ipm - > >>> 30in/sec^2 with a little headroom. I also added a min/max hal > component > >>> so I could see the peak violations.. There probably should be a pyvcp > >>> panel with this info plus a reset peak reading button... but for now I > >>> was doing it manually. > >>> > >>> Keep up the great work! > >>> > >>> sam > >>> > >>> > >>> > >>> > >>> On 11/13/2013 1:07 AM, Robert Ellenberg wrote: > >>>> On Tue, Nov 12, 2013 at 1:28 PM, sam sokolik <[email protected]> > >> wrote: > >>>>> this is the splash screen running.. Z is the only axis that > doesn't > >>>>> obey the 30in/sec^2 limit > >>>>> http://imagebin.org/276777 > >>>> This is good news, and similar to what I saw. > >>>> > >>>> > >>>>> The spiral - goes over the limit. > >>>>> http://imagebin.org/276778 > >>>>> Here is a halscope of one of the overshoots - it is a ways into the > >>>>> spiral.. > >>>>> http://imagebin.org/276780 > >>>> Cool, this is good data. A few things come to mind based on this: > >>>> > >>>> - It looks like the little spikes in acceleration are similar > to my > >>>> results. The pattern (spike up then down) suggests a jump in > >> position, > >>>> which means a trajectory discontinuity. I'm working on some > debug > >> output to > >>>> inspect this more closely. > >>>> - There are some overshoots on X acc. that don't seem to be > from a > >>>> position jump alone. I think this may be to improper fall-back > to > >> parabolic > >>>> blends. I'll run this example myself and check the logs. > >>>> > >>>> Out of curiosity, which config are you using to run these? Is this > your > >>>> original config with max acceleration of 30 on all axes? Also, what > are > >> you > >>>> using to calculate the "acc-ok" signal? I'd like to add that to my > >> hardware > >>>> config. > >>>> > >>>> > >>>>> This is at 1khz.. 10khz - you seem to get about the same overshoot - > >>>>> about 43 - 44 in/sec^2 on the spiral > >>>>> > >>>>> and now - setting the feedrate override to 120%... :) (it had to be > >> done) > >>>>> http://imagebin.org/276779 > >>>>> > >>>>> > >>>>> sam > >>>> The feed override is a bit disappointing, but I'm not really > surprised. > >> I > >>>> haven't spent much time yet getting feed overrides > 120% to work. I > >> need > >>>> to read the max feed override from the user config from within TP, > which > >>>> means a bit of hunting in the code. > >>>> > >>>> Thanks again for the testing. A second set of eyes on this really > helps > >>>> catch the little stuff! > >>>> > >>>> Rob > >>>> > >>>> > >>>>> On 11/12/2013 7:50 AM, sam sokolik wrote: > >>>>>> Very cool!! > >>>>>> > >>>>>> This motion is much better than the previous release. > >>>>>> > >>>>>> I am not seen the odd start motion that I was seeing before - Nice > >>>>>> work! (starting a ways into the spiral instead of the start) > >>>>>> > >>>>>> couple of things. (initial runs) > >>>>>> > >>>>>> The Gcode program doesn't finish. > >>>>>> http://imagebin.org/276743 > >>>>>> the motion stops - but the vel shows 116ipm and the linuxcnc still > >>>>>> thinks it is running the program. (the play button is pushed in) > >>>>>> You can hit the stop button and re-run the program and is seems ok. > >> but > >>>>>> it still pauses at the end. > >>>>>> > >>>>>> Acceleration constraints. This seems better to me also. It gets > >> better > >>>>>> with a higher servo thread also (but the peak velocity doesn't seem > >> to > >>>>>> increase - I had though you had said that would happen...) > >>>>>> 1khz > >>>>>> http://imagebin.org/276740 - almost 40in/sec^2 (should not exceed > >> 30) > >>>>>> 5khz > >>>>>> http://imagebin.org/276741 - 32in/sec^2 > >>>>>> 10khz > >>>>>> http://imagebin.org/276742 - didn't actually look - but it looks > like > >>>>>> the spikes are less > >>>>>> > >>>>>> Now - I don't know if it gets worse (as you can see I don't have as > >> much > >>>>>> sample length at the higher base periods. ) I can also check for > peak > >>>>>> constraint violation also.. > >>>>>> > >>>>>> I think though that you are headed in the right direction! (that > >> peaks > >>>>>> at about 330ipm vs around 120ipm with current blending) > >>>>>> > >>>>>> Awesome work! > >>>>>> sam > >>>>>> > >>>>>> > >>>>>> > >>>>>> > >>>>>> On 11/12/2013 1:32 AM, Robert Ellenberg wrote: > >>>>>>> The public folders aren't shared unfortunately, but I can create a > >>>>> private > >>>>>>> folder shared between testers, with a public link if need be. > >>>>>>> > >>>>>>> The first batch of test logs and screenshots is uploaded as well, > >> which > >>>>>>> uncovered a few hints to the remaining acceleration issues. The > >>>>>>> "blend_tests" subfolder of nc_files has the rest of the test code. > I > >>>>> also > >>>>>>> did a hardware run on my spectralite: > >>>>>>> > >>>>>>> https://www.youtube.com/watch?v=PAVuByKH_Fw > >>>>>>> > >>>>>>> This was slightly slower than the initial demo at about 40 seconds, > >>>>>>> probably due to better adherence to the acceleration constraints. > >>>>>>> > >>>>>>> -Rob > >>>>>>> > >>>>>>> > >>>>>>> On Mon, Nov 11, 2013 at 4:46 PM, TJoseph Powderly < > [email protected]> > >>>>> wrote: > >>>>>>>> On 11/11/2013 02:41 PM, Robert Ellenberg wrote: > >>>>>>>>> I've been doing some rework to fix the issues we found. > >>>>>>>> ...snippety snip snip snip > >>>>>>>> > I'm going to run all of my test > >>>>>>>>> code again tonight and save logs / scope screenshots to my public > >>>>> folder > >>>>>>>>> here: > >>>>>>>>> > >>>>>>>>> https://www.dropbox.com/sh/m801unl2kh7if6x/f59HALU8nh > >>>>>>>>> > >>>>>>>> works for me :) > >>>>>>>> > >>>>>>>> i couldnt upload a 'works4me.txt' > >>>>>>>> but no surprises > >>>>>>>> > >>>>>>>> thx for all the work! > >>>>>>>> TomP tjtr33 > >>>>>>>> > >>>>>>>> > >>>>>>>> > >> > ------------------------------------------------------------------------------ > >>>>>>>> November Webinars for C, C++, Fortran Developers > >>>>>>>> Accelerate application performance with scalable programming > models. > >>>>>>>> Explore > >>>>>>>> techniques for threading, error checking, porting, and tuning. 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