Is there any other's idea? I am confused. On Tue, Nov 10, 2015 at 10:19 AM, Jullian <[email protected]> wrote:
> 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
