On 12/16/2013 11:27 AM, Robert Ellenberg wrote: > > That's an interesting use of the term "jerk", certainly. The circular-arc > blend method limits cornering acceleration as well, so you don't need a > separate spec for that. If they're using a trapezoidal velocity profile, > there will still be large kinematic jerks, though. Whether you need > jerk-limiting will probably depend on how stiff your machine is relative to > the max acceleration, and how much damping your structure and joints > provide. It would certainly be useful feedback for me if you tried out the > circular arc branch (linked below if you're curious). > > https://github.com/robEllenberg/linuxcnc-mirror/tree/circular-blend-arc-alpha > > One issue I can see with running a 3D printer is that A-axis moves have to > fall back to stock blends (i.e. parabolic). It's something I'd like to > address in a future release, though there's more work to be done on that > front.
I'd be willing to test your branch, but pretty much every single move is going to include X+Y+A. There are some positioning moves that just involve X/Y or Z, but all the 'interesting' moves include A. You do blend over three axis (XYZ), right? Is there an easy way to blend over XYA and leave Z as the odd-man out? If not, I'm not sure testing would really be that interesting, other than to prove the code properly falls back to the stock blending. -- Charles Steinkuehler char...@steinkuehler.net
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