Hi John, It looks like it affects LinuxCNC too, I created an issue to track it here:
https://github.com/LinuxCNC/linuxcnc/issues/550 The root cause seems to be that canon and TP have different ideas of what a "small" displacement is. Due to architectural decisions made before my time, the TP has to re-do a lot of the work already done in canon, and one such task is deciding whether to treat a move as purely angular, or linear+angular. This distinction is necessary in the first place because of the way the TP was designed ("progress" along a segment means different things for different moves). Long story short, for this case, canon thinks a move is pure-angular, but TP thinks it's linear + angular. There are several possible fixes for this: 1. Redesign the interface between canon / TP to make the linear / angular choice explicit (API change, possible breakage of out-of-tree uses of motion) 2. Force the TP to use the same units as canon (would be nice for other reasons too, but requires touching a lot of the TP) 3. Do minimum-displacement checks in canon using user (and therefore TP) units, instead of internal units. (Ugly kludge, which is not unusual for canon unfortunately). I'm looking at doing some combination of (1) and (2) in the long term, but (3) is the winner for now since I already have something working there. I'll rebase the fix onto machinekit master once I get more testing done. Best, Rob -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
