Thank you very much,Rob,what still puzzle me is:
1)As in tpCheckEndCondition(), it says like following:"} else if (dt <
tp->cycleTime ) { tc_debug_print(" corrected v_f = %f, a =
%f\n", v_f, a);
tcSetSplitCycle(tc, dt, v_f);" so,is the tp->cycleTime equal with the
tiemstep(1ms)? Is the tp->cycleTime not same with te trajectory CYCLE_TIME
which is set 0.010s
in the .ini file?2)As in tcSetSplitCycle(): "tc->cycle_time=split_time"
here, is the tc->cycle_time less than a timestep? which is against as your
explanation. As you said, does the 'segment' represent one tc(trajectory
component)?
> Date: Mon, 20 Apr 2015 08:29:30 -0400
> From: [email protected]
> To: [email protected]
> Subject: Re: [Emc-developers] TP_MIN_SEGMENT_CYCLES
>
> What that number controls is the maximum velocity of a motion segment,
> based on it's length. Right now, the trajectory planner has a hard
> restriction that it must spend at least one time step (usually 1ms) in each
> segment. This limitation means that we can't move more than one segment
> length in that time.
>
> So, that constant specifies (indirectly) approximately how many timesteps
> must be spent in each segment. The higher that number, the longer the TP
> spends in each segment, and the slower the maximum velocity is.
>
> Honestly, I'd love to be rid of that constant entirely (basically set it to
> 1.0 permanently), but we'd have to do a additional testing to make sure it
> doesn't introduce RT errors. I know already from some experiments that a
> value of 1.0 doesn't automatically blow everything up, but I can't
> guarantee that it will be error-free without taking a closer look.
>
> Rob
> On Apr 18, 2015 6:47 AM, "biematic" <[email protected]> wrote:
>
> > In the Tp_types.h, it says like following:/* Minimum length of a segment
> > in cycles (must be greater than 1 to ensure each * segment is hit at least
> > once.) */
> > #define TP_MIN_SEGMENT_CYCLES 1.02
> > I cannot understand the description, what does the TP_MIN_SEGMENT_CYCLES
> > represent, can anyone explain it ?
> >
> >
> >
> >
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