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Hi,
As I want to understand how trajectoryplanning and
interpolating works, I have written a small program (in Borland C under dos)
using tp, cubic, tc ... I succeeded to add lines into the tp queue and
interpolate them.I send the calculated
positions to a file, and plot it out using gnuplot. All works fine for linear
moves. Problems occure when I want to add arcs
I have some questions.
1) What is the meaning of the parameters "normal"
and "turn" in the function "tpAddCircle(&queue, end, center, normal, turn)"
Is it possible to give a little
example for making an arc in the XY plane ?
2) There is something called "feedforward" that
loads the DAC's with a value corresponding to the theoretical speed of the axis.
The rest is done using PID with positions as parameters. Is this speed known in
each point of the traject ? I think that the PID part of EMC only uses
positions to generate DAC values?
Thanks in advance.
Luc Vercruysse.
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