I agree, the motion / TP component now is doing work that doesn't have to be in real-time. Specifically, the queueing of motion commands and the lookahead optimization could be done in a user space component. You'd need a real-time safe queue structure to do it, but it would make the optimization part much easier to implement. I believe OpenCN took this approach, and a similar design was.proposed years ago for Machinekit as well.
As for feedrate override, the TP adjusts the feed rate on the current move almost instantly. It's a scale factor applied to the target velocity, so it doesn't actually change the "planned" motion data, just how it executes. _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
