actually it probably can go into a kinematics module, like below
I think it could work out as follows:
- take grid of Z probes
- compute surface parameters and pass to kinematics module via HAL pins
- mill unmodified G-code
The advantage would be - beyond 'no gcode translation needed' that it would be
a continues (non-gridded) correction process
pcbkins.c ;): which is basically trivkins.c except if model parameters are
non-zero:
HAL_FLOAT p1,p2,...pN; // HAL pins convey model parameters
double zcorrect(double x,double y) { /* exercise for reader, uses model
parameters */ }
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
joints[0] = pos->tran.x;
joints[1] = pos->tran.y;
joints[2] = pos->tran.z + zcorrect(pos->tran.x, pos->tran.y);
computational geometry isnt my forte but I assume there is a way to approximate
z, within a given error, a probed mesh by a simple parametric function from
x,y; maybe splines or somesuch
-m
Am 17.12.2011 um 20:00 schrieb Viesturs Lācis:
> 2011/12/17 Michael Haberler <mai...@mah.priv.at>:
>> just a vague idea - it would occur to me that transforming the probe result
>> into a parametric model for the Z surface, feed that to the trajectory
>> planner and make the TP 'do the right thing' as a move is executed would
>> greatly simplify the usage of this method, and get rid of the G-code
>> transformation step
>
>
> Sounds like You have an idea, how to do that...
>
> I was thinking, that .py script could be ran as an input filter thus
> there would be no need to save the code and then reopen. Simply
> specify, which file to be opened, just like this is now...
>
> Viesturs
>
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