On Sat, Dec 3, 2011 at 9:26 PM, andy pugh <bodge...@gmail.com> wrote:
> On 3 December 2011 13:11, Yishin Li <y...@araisrobo.com> wrote:
>
> > approach #1:
> > * have negative request-velocity for BACKWARD motion of current TC
> > * replace tc-queue with circular buffer for bi-directional move
> > * figure out how to feed the bi-directional circular buffer
> >
> > approach #2:
> > * have negative request-velocity for BACKWARD motion of current TC
> > * a dedicate FORWARD-tc-queue for FORWARD motion
> > * a dedicate BACKWARD-tc-queue for BACKWARD motion
>
> This ties in rather tightly with the "jog/touch-off while paused"
> issue and the difficulty with "run from line" both of which I think
> are being looked at by other people, though I don't know if any coding
> has been done.
>
> I have been thinking about it, and I think that the second idea is
> probably best, a fixed "history" queue that describes the path that
> exists in the metal, and a more flexible, re-computable "future" queue
> that depends on the G-code not yet run.
> The "future queue" has to be re-computable, as so much can change,
> including the whole flow of the G-code, depending on variables and
> offsets changing. "Run from line" is a particularly interesting
> puzzle, but not directly linked to your question.
>
> I think that you would probably want to link this into "adaptive feed"
> and "feed over-ride", simply allow these to go negative.
>
>
I think that the "future queue" idea would be better than the "circular
buffer".
I wish to modify the source code as less as possible.
Here's the approach:
** create 2 HAL pins: jog-forward and jog-backward
** if (jog-forward == TRUE)
then
jog the tool along with g-code
ignore M-code inside .ngc file
the behavior is identical to cycle-start
else if (jog-backward == TRUE)
flush the TP-queue
have interp and canon prepare the reversed TP for TP-queue
for tp.c: request-velocity *= -1
for tp.c: the progress will go from 100% down to 0
endif
Yishin
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