Thanks, As that the tp's period is also 1ms, and the cubic interpolation is calculated every 1ms, so can i conclude that interpolationRate = 1??
If that's true, is it meaningless that we do the cubic interpolation? On Mon, Nov 9, 2015 at 10:24 PM, John Kasunich <[email protected]> wrote: > Original EMC (circa 1995) ran the trajectory planner and kinematics every > 10mS and the servo cycle (PID, etc), every 1mS, because the kinematics > math was too much for pre-2000 computers. > > EMC2 (from around 2004) runs the trajectory planner and kinematics at > the same rate as the servo loop by default. I don't remember enough > details to know if it is still possible to run them at separate rates or > not. > > > On Mon, Nov 9, 2015, at 03:53 AM, Jullian wrote: > > Hi, all, > > > > The "tp->cycleTime" is equal to '1ms' that i catched in the function of > > tpRunCycle() in tp.c. > > > > My doubt is that why the "tp->cycleTime" is not equivalent with the > > 'CYCLE_TIME=0.010s' setted in the [TRAJ] of the .ini file? but is > > equivalent with the servo period 1ms? > > > > Is it not true that we do the tpRunCycle() every 10ms so that we can get > 10 > > cubic_interpolated points which are calculated every 1ms of servo period? > > > > Best regards! > > > > Julian. > > > ------------------------------------------------------------------------------ > > Presto, an open source distributed SQL query engine for big data, > initially > > developed by Facebook, enables you to easily query your data on Hadoop > in a > > more interactive manner. Teradata is also now providing full enterprise > > support for Presto. Download a free open source copy now. > > http://pubads.g.doubleclick.net/gampad/clk?id=250295911&iu=/4140 > > _______________________________________________ > > Emc-developers mailing list > > [email protected] > > https://lists.sourceforge.net/lists/listinfo/emc-developers > > > -- > John Kasunich > [email protected] > > > ------------------------------------------------------------------------------ > Presto, an open source distributed SQL query engine for big data, initially > developed by Facebook, enables you to easily query your data on Hadoop in a > more interactive manner. Teradata is also now providing full enterprise > support for Presto. Download a free open source copy now. > http://pubads.g.doubleclick.net/gampad/clk?id=250295911&iu=/4140 > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
