Heh - Ok. I have been playing with it and the motion is a lot smoother. The velocity on the spiral is a strait line (used to be scaloped..)
Couple more little issues.. :) On the spiral - if you pause it - then single block it. (try it - I dare you) ;) - it will take off in some random direction - or do a circle over and over. (kinda looks like the maybe the last blend move gets extended... ) Then when you take it out of single block - you get a large step change in acelleration/velocity as it goes to where it supposed to be instantly and continues on. I don't know how the feedrate override should act. I had mentioned that it didn't violate the constraints when I want to 120% - (its speed went up also 290ipm vs 350ipm. But then I thought - ok - so then I should be able to set the FO max to 100% in the ini and get 350ipm... but It doesn't - I still get 290ipm. (I was thinking it calculated worse case for the FO) So there must be some headroom in there. Ok - thinking out loud... I just set the FO in the ini to 200%. I was thinking I would break it being able to go over - but you have some sort of checking in there (more like the original planner) where it seems to stop at 350ipm and doesn't go over acceleration constraints. That is cool. Maybe you have 120% hard coded? huh? Do you? ;) Well - one more thing - setting the feed rate override to 200% cause the program not to end like before. (the motion ends but axis still thinks it is running the program - the play button is pushed.) ie.. http://imagebin.org/277887 Notice though - the constraints are obeyed... Yay still - pretty darn awesome. (running the spiral almost 3 times as fast as the current tp) sam On 11/19/2013 7:57 AM, sam sokolik wrote: > Awesome!! > I will hammer it today - inital test. > -spiral. I ran it a few times with no isses with constraints. Yay > Feedrate override also seems to obey (mine is set to max of 120% max) > The program also seems to end Yay! > couple oddities. > -If you pause the program - it seems to stop. but the Vel on the screen > is non zero. (it may say anything like 43ipm.) you get the same thing > if you stop a program while it is running. (non zero velocity) > -If you stop a program mid run - the cone jumps ahead (probaby the > amount of the read ahead?) No following errors - just a little odd. > > The splash screen doesn't obey constraints.. but I assume it is because > of the arc-arc issues. > > I also took the 3d_Chips.ngc here > http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=nc_files/3D_Chips.ngc;h=1f72707b49632127d71b7eea4a286ba86c861703;hb=HEAD > changed > #<fscale> = 1000 > And > G64P.1 to G64 > > The feedrate in the active gcode area shows F450000 > This runs very slow for some reason. like there are long strait > sections that are running at <10ipm. I will play with it some more - > but it wasn't making sense... Could it be a metric/english issue? > > Getting closer - I can taste it :) > Great work! > > sam > > On 11/19/2013 2:08 AM, Robert Ellenberg wrote: >> Hi Sam, >> >> I've made a bunch of improvements here: >> >> https://github.com/robEllenberg/linuxcnc-mirror/ >> tree/circular-blend-arc-alpha >> >> Thanks to your feedback and some extensive fiddling, this version is a bit >> more robust in terms of smoothness and constraints. All of the tests in my >> dropbox folder with the exception of arc-arc.ngc don't violate acceleration >> constraints in my test runs. Your GUI extension was useful for that! The >> monitor makes it not necessary to watch the screen every second, which >> saved a lot of time. >> >> The test cases and configurations (based off of your configs, with some of >> my own changes) are here: >> >> https://www.dropbox.com/sh/jojh7sw24gf9kzd/V64_EGD7aH >> >> If you get the chance, try out a few examples on this version and see if >> you can break it. >> >> Thanks! >> Rob >> >> >> On Mon, Nov 18, 2013 at 7:10 AM, sam sokolik <sa...@empirescreen.com> wrote: >> >>> any updates? :) >>> >>> thanks >>> sam >>> On 11/13/2013 2:48 PM, Robert Ellenberg wrote: >>>> That's really handy! It would be really helpful to know if a particular >>>> test failed, so I don't have to dig through a whole log file if nothing's >>>> wrong. How did you implement it? >>>> >>>> >>>> On Wed, Nov 13, 2013 at 3:41 PM, sam sokolik <sa...@empirescreen.com> >>> wrote: >>>>> Maybe something like this might help for initial testing? >>>>> >>>>> http://imagebin.org/276898 >>>>> (notice the z) >>>>> >>>>> http://imagebin.org/276900 >>>>> >>>>> Not pretty.... >>>>> >>>>> sam >>>>> >>>>> On 11/13/2013 6:31 AM, sam sokolik wrote: >>>>>> I cannot contribute programmatically... So I test.. And all things >>>>>> trajectory planner/motion excite me for some reason. :) >>>>>> >>>>>> The basic config is here >>>>>> http://electronicsam.com/images/KandT/testing/circblend/ >>>>>> >>>>>> the hal file check_constraints.hal is a modified to the 500ipm - >>>>>> 30in/sec^2 with a little headroom. I also added a min/max hal >>> component >>>>>> so I could see the peak violations.. There probably should be a pyvcp >>>>>> panel with this info plus a reset peak reading button... but for now I >>>>>> was doing it manually. >>>>>> >>>>>> Keep up the great work! >>>>>> >>>>>> sam >>>>>> >>>>>> >>>>>> >>>>>> >>>>>> On 11/13/2013 1:07 AM, Robert Ellenberg wrote: >>>>>>> On Tue, Nov 12, 2013 at 1:28 PM, sam sokolik <sa...@empirescreen.com> >>>>> wrote: >>>>>>>> this is the splash screen running.. Z is the only axis that >>> doesn't >>>>>>>> obey the 30in/sec^2 limit >>>>>>>> http://imagebin.org/276777 >>>>>>> This is good news, and similar to what I saw. >>>>>>> >>>>>>> >>>>>>>> The spiral - goes over the limit. >>>>>>>> http://imagebin.org/276778 >>>>>>>> Here is a halscope of one of the overshoots - it is a ways into the >>>>>>>> spiral.. >>>>>>>> http://imagebin.org/276780 >>>>>>> Cool, this is good data. A few things come to mind based on this: >>>>>>> >>>>>>> - It looks like the little spikes in acceleration are similar >>> to my >>>>>>> results. The pattern (spike up then down) suggests a jump in >>>>> position, >>>>>>> which means a trajectory discontinuity. I'm working on some >>> debug >>>>> output to >>>>>>> inspect this more closely. >>>>>>> - There are some overshoots on X acc. that don't seem to be >>> from a >>>>>>> position jump alone. I think this may be to improper fall-back >>> to >>>>> parabolic >>>>>>> blends. I'll run this example myself and check the logs. >>>>>>> >>>>>>> Out of curiosity, which config are you using to run these? Is this >>> your >>>>>>> original config with max acceleration of 30 on all axes? Also, what >>> are >>>>> you >>>>>>> using to calculate the "acc-ok" signal? I'd like to add that to my >>>>> hardware >>>>>>> config. >>>>>>> >>>>>>> >>>>>>>> This is at 1khz.. 10khz - you seem to get about the same overshoot - >>>>>>>> about 43 - 44 in/sec^2 on the spiral >>>>>>>> >>>>>>>> and now - setting the feedrate override to 120%... :) (it had to be >>>>> done) >>>>>>>> http://imagebin.org/276779 >>>>>>>> >>>>>>>> >>>>>>>> sam >>>>>>> The feed override is a bit disappointing, but I'm not really >>> surprised. >>>>> I >>>>>>> haven't spent much time yet getting feed overrides > 120% to work. I >>>>> need >>>>>>> to read the max feed override from the user config from within TP, >>> which >>>>>>> means a bit of hunting in the code. >>>>>>> >>>>>>> Thanks again for the testing. A second set of eyes on this really >>> helps >>>>>>> catch the little stuff! >>>>>>> >>>>>>> Rob >>>>>>> >>>>>>> >>>>>>>> On 11/12/2013 7:50 AM, sam sokolik wrote: >>>>>>>>> Very cool!! >>>>>>>>> >>>>>>>>> This motion is much better than the previous release. >>>>>>>>> >>>>>>>>> I am not seen the odd start motion that I was seeing before - Nice >>>>>>>>> work! (starting a ways into the spiral instead of the start) >>>>>>>>> >>>>>>>>> couple of things. (initial runs) >>>>>>>>> >>>>>>>>> The Gcode program doesn't finish. >>>>>>>>> http://imagebin.org/276743 >>>>>>>>> the motion stops - but the vel shows 116ipm and the linuxcnc still >>>>>>>>> thinks it is running the program. (the play button is pushed in) >>>>>>>>> You can hit the stop button and re-run the program and is seems ok. >>>>> but >>>>>>>>> it still pauses at the end. >>>>>>>>> >>>>>>>>> Acceleration constraints. This seems better to me also. It gets >>>>> better >>>>>>>>> with a higher servo thread also (but the peak velocity doesn't seem >>>>> to >>>>>>>>> increase - I had though you had said that would happen...) >>>>>>>>> 1khz >>>>>>>>> http://imagebin.org/276740 - almost 40in/sec^2 (should not exceed >>>>> 30) >>>>>>>>> 5khz >>>>>>>>> http://imagebin.org/276741 - 32in/sec^2 >>>>>>>>> 10khz >>>>>>>>> http://imagebin.org/276742 - didn't actually look - but it looks >>> like >>>>>>>>> the spikes are less >>>>>>>>> >>>>>>>>> Now - I don't know if it gets worse (as you can see I don't have as >>>>> much >>>>>>>>> sample length at the higher base periods. ) I can also check for >>> peak >>>>>>>>> constraint violation also.. >>>>>>>>> >>>>>>>>> I think though that you are headed in the right direction! (that >>>>> peaks >>>>>>>>> at about 330ipm vs around 120ipm with current blending) >>>>>>>>> >>>>>>>>> Awesome work! >>>>>>>>> sam >>>>>>>>> >>>>>>>>> >>>>>>>>> >>>>>>>>> >>>>>>>>> On 11/12/2013 1:32 AM, Robert Ellenberg wrote: >>>>>>>>>> The public folders aren't shared unfortunately, but I can create a >>>>>>>> private >>>>>>>>>> folder shared between testers, with a public link if need be. >>>>>>>>>> >>>>>>>>>> The first batch of test logs and screenshots is uploaded as well, >>>>> which >>>>>>>>>> uncovered a few hints to the remaining acceleration issues. The >>>>>>>>>> "blend_tests" subfolder of nc_files has the rest of the test code. >>> I >>>>>>>> also >>>>>>>>>> did a hardware run on my spectralite: >>>>>>>>>> >>>>>>>>>> https://www.youtube.com/watch?v=PAVuByKH_Fw >>>>>>>>>> >>>>>>>>>> This was slightly slower than the initial demo at about 40 seconds, >>>>>>>>>> probably due to better adherence to the acceleration constraints. >>>>>>>>>> >>>>>>>>>> -Rob >>>>>>>>>> >>>>>>>>>> >>>>>>>>>> On Mon, Nov 11, 2013 at 4:46 PM, TJoseph Powderly < >>> tjt...@gmail.com> >>>>>>>> wrote: >>>>>>>>>>> On 11/11/2013 02:41 PM, Robert Ellenberg wrote: >>>>>>>>>>>> I've been doing some rework to fix the issues we found. >>>>>>>>>>> ...snippety snip snip snip >>>>>>>>>>> > I'm going to run all of my test >>>>>>>>>>>> code again tonight and save logs / scope screenshots to my public >>>>>>>> folder >>>>>>>>>>>> here: >>>>>>>>>>>> >>>>>>>>>>>> https://www.dropbox.com/sh/m801unl2kh7if6x/f59HALU8nh >>>>>>>>>>>> >>>>>>>>>>> works for me :) >>>>>>>>>>> >>>>>>>>>>> i couldnt upload a 'works4me.txt' >>>>>>>>>>> but no surprises >>>>>>>>>>> >>>>>>>>>>> thx for all the work! >>>>>>>>>>> TomP tjtr33 >>>>>>>>>>> >>>>>>>>>>> >>>>>>>>>>> >>> ------------------------------------------------------------------------------ >>>>>>>>>>> November Webinars for C, C++, Fortran Developers >>>>>>>>>>> Accelerate application performance with scalable programming >>> models. >>>>>>>>>>> Explore >>>>>>>>>>> techniques for threading, error checking, porting, and tuning. 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