Hi, I am no expert but the trajectory planner is designed to be modular and is loaded in the ini file. Search for TPMOD in the ini file docs here https://linuxcnc.org/docs/stable/html/config/ini-config.html It's just that nobody has produced an alternative.
There is quite an advanced project (eg near complete) on a jerk limited TP on the forum here https://forum.linuxcnc.org/38-general-linuxcnc-questions/55075-scurve-trajectory-planner?start=0 It links to a git repository. Rod Webster *1300 896 832* +61 435 765 611 Vehicle Modifications Network www.vehiclemods.net.au On Thu, 27 Mar 2025 at 07:26, Viesturs Lācis <viesturs.la...@gmail.com> wrote: > Hello! > > One of activities that I do for living is working in university. And > one of the projects I am involved in is heating carbon composites with > induction coil (yes, you can induce current in carbon fibers!) and in > that project I have built a machine of coreXY layout that moves the > induction coil and LinuxCNC is in charge of the controls on that > machine. > I have 2 students working on this project - one of them is exploring > capabilities of "python interface" so that we can create a python > program that would process external data, make decisions on required > movements of induction coil and stream them to LinuxCNC. > Another student (with some experience in coding) is working on finding > out if jerk-limited trajectory planner can be implemented - that would > help for the particular project and for other of my machines as well > and I am sure that there are quite a few users that want it as well. > There are several questions that have arised about existing code that > I really hope that someone can understand (as I have very little > experience in coding so am not sure about completely understanding let > alone formulating correctly) and explain: > 1) in this file: > https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/ini/inihal.cc > There are "old_inihal_data" and "new_inihal_data" used in the very > beginning of this file. Can anyone explain what is happening there? My > student is trying to understand how to add jerk parameter to the list > of parameters that are read from INI file and passed on to trajectory > planner. And that place looks as if some comparison is made but where > do "old" values come from, assuming new ones are read from INI file? > I gave him this link as it seems that Araisrobo did implement > jerk-limited trajectory planner in machinekit quite a few years ago > but I am not sure if that code can be copied directly as I have no > idea how to test if it actually works: > https://github.com/araisrobo/machinekit/blob/rpi2-spi/src/emc/tp/tp.c#L564 > > 2) is Halcompile capable of installing the tp module after everything > else is prepared or does it require rebuild from source each time > changes are made? > > > Viesturs > > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
