New Trajectory Planner - Testers/programs wanted

This is v2.5.3-2611-g9ea88c1

I get this running steve.ngc

sam

rellenberg wrote: That's strange, steve.ngc seems to run fine in my simulation and RT builds. However, I ran a big batch of tests and found a small overage on arc-parabolic-blend.ngc (attached). Is it consistently going over at a particular spot?

here is the x axis - first at around line 25-27 and 27-28...

That is with steve.ngc strait G64

sam

Rob,

I'm working on an update to push out to the beta branch that will fix this and a few other minor issues.

I will update what I am testing this week. I did notice that end moves might be treated differently in certain circumstances.
Again I may not have the latest but here is the current TP vs the new with straight G64.





Rick G

Rob - I added your program to the bug tracker here..

sourceforge.net/p/emc/bugs/344/

although - I don't know if it will get fixed before your branch would get added.. (as no one has come forward with having issues with the current TP. - that I know of anyway)

sam

Hi Rick,

Thanks for finding that missing blend in your test run. I figured out why it's doing that. I made a dumb optimization about a month ago that led to some parabolic blends not being detected correctly. I wanted to pre-calculate the peak velocity for each segment, but this meant every time something changed about the segment length, the calculation would have to be redone. I'm reverting to the original behavior because it's a big headache for too little gain.

Another mistake: I scaled back acceleration by 0.5 if the current or previous segment has a parabolic blend. However, the check for this in some cases happened before blend arcs were created, which meant some segments were accelerating too slowly. I'll have a fix for both of these issues out by the end of the day on the experimental branch.

Sam, I'm still trying to reproduce that overage on my configs, but if I can't, I'll download your config again and try it out.

Hmm - that is odd. I could try it on a different computer. That was a sim build on my laptop.

sam