After a little more digging, it appears that you should still be able set traj_period_nsec in the loadrt line in your hal file and the trajectory planner will run at that rate.
If you set traj_period_nsec slower than servo_period_nsec then the cubic interpolation will be used, but if not then traj_period_nsec is set internally to equal servo_period_nsec and the cubic interpolation is essentially not used. On 11/11/2015 06:49 PM, andy pugh wrote: > On 12 November 2015 at 00:29, Jullian <[email protected]> wrote: >> Is there any other's idea? I am confused. > > > This was discussed on IRC. We think you might be right. > http://psha.org.ru/irc/%23emc-devel/2015-11-11.html#19:07:48 > On 11/11/2015 06:29 PM, Jullian wrote: > 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 > ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
