I'd be happy to merge it into either if there's demand. My recent batch of changes restored the original behavior of the velocity field in EMC status, so I don't think there are any other obstacles. One minor concern is that the extra math slightly increases the CPU time for the servo loop, but I doubt it will matter on reasonably modern hardware.
On Mon, Jan 11, 2016, 2:25 PM Todd Zuercher <zuerc...@embarqmail.com> wrote: > Rob, > > We've been running this for a little while now and it seems to be working > well for us. Is there any plans to move it to the mainstream (Master or > 2.7)? > > ----- Original Message ----- > From: "Robert Ellenberg" <rwe...@gmail.com> > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > Sent: Tuesday, December 1, 2015 12:31:50 PM > Subject: Re: [Emc-users] calling Todd Z > > That's consistent with the changes I made, that "velocity" from the TP's > perspective is now along the 6D path (instead of just XYZ). > > Maybe we could add fields / Hal pins for different interpretations? It > wouldn't be too hard to calculate XYZ-only velocity, and report it on a > separate pin. Or, for backwards compatibility, I could tweak the status > update code so that motion only reports xyz velocity, even though > internally it uses xyzuvw. > > On Tue, Dec 1, 2015, 12:14 PM Todd Zuercher <zuerc...@embarqmail.com> > wrote: > > > Ok I got to test it again today some, and here is what I've found so far. > > It looks like the g-code with Z and W are running the same as the only Z > > g-code. The same file runs for the same amount of time both ways. > > > > However I have noticed that it looks like the velocity display on the > DRO, > > is adding the velocity of the W axis to the Z, so that when milling at > F80, > > the DRO will show that the velocity was more than 80. I'm not quite sure > > how this could be corrected or if it should be. There are configurations > > where you may want the W and Z velocities to be additive (such as a knee > > mill) but that situation might be better served by configuring it more > like > > 2 joints serving the Z axis. I don't think it would be right to just > > completely ignore the W velocity either, because there are situations > where > > the machine may be using only XYW for carving instead of XYZ or XYZW. > > Maybe some way of only using the most significant velocity of the 2 (Z > and > > W) in the velocity calculation, sounds like a recipe for making something > > simple (at least on the surface) into something very complicated. > > > > Again, it is only what is being shown for the velocity on the DRO that I > > think is wrong, the actual movement of the the machine looks right, and > the > > run times for the files seem to confirm that. > > > > ----- Original Message ----- > > From: "Robert Ellenberg" <rwe...@gmail.com> > > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net > > > > Sent: Friday, November 27, 2015 10:56:44 AM > > Subject: Re: [Emc-users] calling Todd Z > > > > I just tweaked naive cam detection to handle uvw axes too. Can you guys > > give it a spin and see if it makes up the difference? > > > > -Rob > > > > On Wed, Nov 25, 2015, 4:09 PM sam sokolik <sa...@empirescreen.com> > wrote: > > > > > the thing that is missing with uvy blends it the nieve cam detector > > > (combining of short line segments..) so it will run just a bit slower. > > > > > > sam > > > > > > On 11/25/2015 12:17 PM, Todd Zuercher wrote: > > > > Just for perspective the current version of 2.7 using XYZW runs the > > file > > > below in 10min. 44sec. > > > > > > > > ----- Original Message ----- > > > > From: "Todd Zuercher" <zuerc...@embarqmail.com> > > > > To: "Enhanced Machine Controller (EMC)" < > > emc-users@lists.sourceforge.net > > > > > > > > Sent: Wednesday, November 25, 2015 10:17:03 AM > > > > Subject: Re: [Emc-users] calling Todd Z > > > > > > > > Seems to be working great. I haven't found a problem XYZ and XYZW > code > > > seem to run mostly the same now, but not exactly. The first file I > > tested > > > ran in 7min. 10 sec. using only XYZ code (with the W slaved to Z) and > the > > > same file using XYZW code, ran in 7min. 28sec. > > > > > > > > ----- Original Message ----- > > > > From: "Robert Ellenberg" <rwe...@gmail.com> > > > > To: "Enhanced Machine Controller (EMC)" < > > emc-users@lists.sourceforge.net > > > > > > > > Sent: Tuesday, November 24, 2015 11:39:38 PM > > > > Subject: Re: [Emc-users] calling Todd Z > > > > > > > > Ok, i just pushed a fix for that build error, and now it seems to > > compile > > > > and run on my RTAI VM. Also, I pushed the branch to the main > linuxcnc > > > > repository for the buildbot to chew on. > > > > > > > > -Rob > > > > > > > > On Tue, Nov 24, 2015 at 4:16 PM, Robert Ellenberg <rwe...@gmail.com> > > > wrote: > > > > > > > >> Todd, > > > >> > > > >> I'll troubleshoot the build tonight, it looks like a symbol is > missing > > > in > > > >> the RT build that's available in the sim build. > > > >> > > > >> Rob > > > >> > > > >> On Tue, Nov 24, 2015, 4:09 PM Todd Zuercher < > zuerc...@embarqmail.com> > > > >> wrote: > > > >> > > > >>> I think I forgot to do the sudo make setuid. > > > >>> did that now, and this is what it spits out. > > > >>> > > > >>> LINUXCNC - 2.7.2 > > > >>> Machine configuration directory is > > > >>> '/home/digital4/linuxcnc/configs/Digital_4_ZZ' > > > >>> Machine configuration file is 'Digital_4w.ini' > > > >>> Starting LinuxCNC... > > > >>> insmod: can't read '/home/digital4/linuxcnc-uvw/rtlib/rtapi.ko': No > > > such > > > >>> file or directory > > > >>> Realtime system did not load > > > >>> Shutting down and cleaning up LinuxCNC... > > > >>> Running HAL shutdown script > > > >>> /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper: Invalid > usage > > > >>> with args: remove hal_lib > > > >>> > > > >>> Usage: /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper > insert > > > >>> /path/to/module.ext [param1=value1 ...] > > > >>> > > > >>> where module is one of: > > > >>> rtai_math > > > >>> rtai_sem > > > >>> rtai_shm > > > >>> rtai_fifos > > > >>> rtai_up > > > >>> rtai_lxrt > > > >>> rtai_hal > > > >>> rtai_sched > > > >>> rtai_smi > > > >>> rtai > > > >>> rt_mem_mgr > > > >>> adeos > > > >>> > > > >>> the path starts with one of: > > > >>> /lib/modules > > > >>> /usr/realtime-2.6.32-122-rtai > > > >>> > > > >>> and the extension is one of: > > > >>> .ko > > > >>> > > > >>> or the module is in the directory /home/digital4/linuxcnc-uvw/rtlib > > > >>> > > > >>> OR > > > >>> > > > >>> /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper remove > module > > > >>> > > > >>> where module is one of the modules listed above. > > > >>> > > > >>> /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper: Invalid > usage > > > >>> with args: remove rtapi > > > >>> > > > >>> Usage: /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper > insert > > > >>> /path/to/module.ext [param1=value1 ...] > > > >>> > > > >>> where module is one of: > > > >>> rtai_math > > > >>> rtai_sem > > > >>> rtai_shm > > > >>> rtai_fifos > > > >>> rtai_up > > > >>> rtai_lxrt > > > >>> rtai_hal > > > >>> rtai_sched > > > >>> rtai_smi > > > >>> rtai > > > >>> rt_mem_mgr > > > >>> adeos > > > >>> > > > >>> the path starts with one of: > > > >>> /lib/modules > > > >>> /usr/realtime-2.6.32-122-rtai > > > >>> > > > >>> and the extension is one of: > > > >>> .ko > > > >>> > > > >>> or the module is in the directory /home/digital4/linuxcnc-uvw/rtlib > > > >>> > > > >>> OR > > > >>> > > > >>> /home/digital4/linuxcnc-uvw/bin/linuxcnc_module_helper remove > module > > > >>> > > > >>> where module is one of the modules listed above. > > > >>> > > > >>> LinuxCNC terminated with an error. You can find more information > in > > > the > > > >>> log: > > > >>> /home/digital4/linuxcnc_debug.txt > > > >>> and > > > >>> /home/digital4/linuxcnc_print.txt > > > >>> as well as in the output of the shell command 'dmesg' and in the > > > terminal > > > >>> > > > >>> > > > >>> > > > > > > ------------------------------------------------------------------------------ > > > >>> Go from Idea to Many App Stores Faster with Intel(R) XDK > > > >>> Give your users amazing mobile app experiences with Intel(R) XDK. > > > >>> Use one codebase in this all-in-one HTML5 development environment. > > > >>> Design, debug & build mobile apps & 2D/3D high-impact games for > > > multiple > > > >>> OSs. > > > >>> http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140 > > > >>> _______________________________________________ > > > >>> Emc-users mailing list > > > >>> Emc-users@lists.sourceforge.net > > > >>> https://lists.sourceforge.net/lists/listinfo/emc-users > > > >>> > > > > > > > > > > ------------------------------------------------------------------------------ > > > > Go from Idea to Many App Stores Faster with Intel(R) XDK > > > > Give your users amazing mobile app experiences with Intel(R) XDK. > > > > Use one codebase in this all-in-one HTML5 development environment. > > > > Design, debug & build mobile apps & 2D/3D high-impact games for > > multiple > > > OSs. > > > > http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140 > > > > _______________________________________________ > > > > Emc-users mailing list > > > > Emc-users@lists.sourceforge.net > > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > > > > > > > > ------------------------------------------------------------------------------ > > > > Go from Idea to Many App Stores Faster with Intel(R) XDK > > > > Give your users amazing mobile app experiences with Intel(R) XDK. > > > > Use one codebase in this all-in-one HTML5 development environment. > > > > Design, debug & build mobile apps & 2D/3D high-impact games for > > multiple > > > OSs. > > > > http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140 > > > > _______________________________________________ > > > > Emc-users mailing list > > > > Emc-users@lists.sourceforge.net > > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > > > > > > > > ------------------------------------------------------------------------------ > > > > Go from Idea to Many App Stores Faster with Intel(R) XDK > > > > Give your users amazing mobile app experiences with Intel(R) XDK. > > > > Use one codebase in this all-in-one HTML5 development environment. > > > > Design, debug & build mobile apps & 2D/3D high-impact games for > > multiple > > > OSs. > > > > http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140 > > > > _______________________________________________ > > > > Emc-users mailing list > > > > Emc-users@lists.sourceforge.net > > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > > > > > > > > > > > > > ------------------------------------------------------------------------------ > > > Go from Idea to Many App Stores Faster with Intel(R) XDK > > > Give your users amazing mobile app experiences with Intel(R) XDK. > > > Use one codebase in this all-in-one HTML5 development environment. > > > Design, debug & build mobile apps & 2D/3D high-impact games for > multiple > > > OSs. > > > http://pubads.g.doubleclick.net/gampad/clk?id=254741551&iu=/4140 > > > _______________________________________________ > > > Emc-users mailing list > > > Emc-users@lists.sourceforge.net > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > > ------------------------------------------------------------------------------ > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > ------------------------------------------------------------------------------ > > Go from Idea to Many App Stores Faster with Intel(R) XDK > > Give your users amazing mobile app experiences with Intel(R) XDK. > > Use one codebase in this all-in-one HTML5 development environment. > > Design, debug & build mobile apps & 2D/3D high-impact games for multiple > > OSs. > > http://pubads.g.doubleclick.net/gampad/clk?id=254741911&iu=/4140 > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > ------------------------------------------------------------------------------ > Go from Idea to Many App Stores Faster with Intel(R) XDK > Give your users amazing mobile app experiences with Intel(R) XDK. > Use one codebase in this all-in-one HTML5 development environment. > Design, debug & build mobile apps & 2D/3D high-impact games for multiple > OSs. > 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