Interpolation in that context was a way to run the trajectory planner at a slower rate than the servo loop, and interpolate between planned points. Currently, the TP and servo loop run at the same rate (usually 1kHz) so the interpolation has no effect.
On Mon, Apr 27, 2020, 6:23 PM Georgios Liolidis <[email protected]> wrote: > Hello > trying to study the code of the function get_pos_cmd() > (section case EMCMOT_MOTION_COORD), > i have some questions about the role of interpolationTime variable on the > cubicInterpolate() function, as the value of this variableis always zero > before executing functions > interpolateCubic(), intepolateVel(), interpolateAcc() and > interpolateJerk(). (is zeroed in cubicAddPont() which is called before > cubicInterpolate() andincremented at the end of cubicInterpolate()). > If this is true, the contribution of time is eliminated in functions > interpolateCubic(), intepolateVel(), interpolateAcc() and > interpolateJerk(). > This makes sense of interpolation function? > > George > > _______________________________________________ > 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
