Hi Sebastian > Just out of curiosity, what were the problems with using emcrsh?
Right now my super simple program tracks the digitiser and once it is moved by 0.5 mm it sends the new coordinates as a g01 command to the mill. So if I move the digitiser faster than the mill can follow a buffer in emcrsh buffers the commands and they will be executed later, following the exact (+/-0.5mm) trace. I'd rather prefer a behaviour like the one of the mouse courser on screen. If you move you mouse to fast the tracing resolution is decreasing, so there are longer linear path segments with more time for the mill to accelerate and speed up. My bee I'll try to use time-inverse feed rate specification mode for the next test. This might improve this behaviour. Another problem with the buffer in emcrsh is that it seams to be rather small, just big enough for a few hundred commands. Once this buffer runs over emcrsh terminates. In addition to these aspects I think that the idear of trying to read the digitiser trace as a polygon and mill this polygon using G01 commands is not the beset way, though playing with G64 might improve it. I have the feeling that I could create a more "natural feeling" with both high dynamic and accuracy by feeding a continues stream of digitiser coordinate (I could poll the digitiser ever 50 ms) directly to HAL and treat this as an input signal for a PID controller that controls the mill. This approach would also open the way to further extension like force feedback [1]. I guess setting the feedback forse proportional to the p-component of the PID controller would give good results. See you Flo [1] I'm looking for a used Sensable Phantom, buy the way. Mail me if you have an unused device you might want to sell. ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
