On Wed, Nov 26, 2014 at 10:28:47AM +0000, andy pugh wrote: > > One interesting application for such pins would be to allow > world-space motion from arbitrary HAL components driven by sources > other than G-code. There are probably many potential uses for this in
I like this idea. The implementation is a little bit hard, but not impossible. You can't just apply extra motion at any old time, because the application uses up some of your velocity and acceleration that might all be being used up already. What you can maybe do instead is use it to adjust the endpoints of subsequent moves, though. Say if you add an inch to Z, after your next move Z would be an inch higher because the subsequent moves' endpoints would all get adjusted. This is a little intricate because right now, velocity and acceleration *along a move* are decided and fixed in userland task, before the moves are sent along to motion. If you change a move's ultimate direction (say a X only move becomes an XZ move) you have to reconsider. Another complication is we really have two world systems that are usually the same (xyz in the gcode, world in motion) but remember you can rotate the gcode. If you made a pin on motion that offsets X, you'd have to decide whether that rotates or not. If you decide it doesn't rotate, you have something that's almost exactly like a tool offset. There are many reasons for moving tool offsetting into motion in this way, for instance allowing changing of tool offsets while the program is paused (or running!). So I guess I see your idea as a part of the bigger "reconsider what task does and how all the motion queueing works" project that's slowly coalescing and/or hanging over our heads. ------------------------------------------------------------------------------ Download BIRT iHub F-Type - The Free Enterprise-Grade BIRT Server from Actuate! Instantly Supercharge Your Business Reports and Dashboards with Interactivity, Sharing, Native Excel Exports, App Integration & more Get technology previously reserved for billion-dollar corporations, FREE http://pubads.g.doubleclick.net/gampad/clk?id=157005751&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
