From 16a71cd686de4f48adb0cd671bf436f3f0c58945 Mon Sep 17 00:00:00 2001 From: Chris Morley Date: Sun, 29 Sep 2013 07:39:26 -0700 Subject: [PATCH] trajectory planner -Don't use feed override in rapids Rapids should not follow feed override settings. It will still follow max velocity override. This allows feed and rapids overrides to be set mostly indpendantly. If you set max velocity override low enough it will affect feed rate. --- src/emc/kinematics/tc.c | 3 +++ 1 files changed, 3 insertions(+), 0 deletions(-) diff --git a/src/emc/kinematics/tc.c b/src/emc/kinematics/tc.c index 61a35c3..c6866d8 100644 --- a/src/emc/kinematics/tc.c +++ b/src/emc/kinematics/tc.c @@ -22,6 +22,7 @@ #include "posemath.h" #include "emcpos.h" #include "tc.h" +#include "motion_types.h" PmCartesian tcGetStartingUnitVector(TC_STRUCT *tc) { PmCartesian v; @@ -111,6 +112,8 @@ EmcPose tcGetPosReal(TC_STRUCT * tc, int of_endpoint) abc.tran = tc->coords.rigidtap.abc; uvw.tran = tc->coords.rigidtap.uvw; } else if (tc->motion_type == TC_LINEAR) { + // if this is rapid son't use feed override settings (max velocity override still honoured) + if(tc->canon_motion_type==EMC_MOTION_TYPE_TRAVERSE) {tc->feed_override = 1.0;} if (tc->coords.line.xyz.tmag > 0.) { // progress is along xyz, so uvw and abc move proportionally in order // to end at the same time. -- 1.7.0.4