Trajectory Planner using Ruckig Lib

Grotius wrote:

Skynet presents : tpmod_T800
Scurve, using velocity ends, look ahead.
This is fun. image missing /media/kunena/emoticons/cool.png
 

Don't forget to book it in else I can't run up a test on real h/w. 
Unless there is some more to do before that h/w test is viable.

Yes push it please Grotius. We all want to see it on real hardware.  image missing /media/kunena/emoticons/wink.png
MAybe you will have to place an embargo on JoCo until you get it on your table image missing /media/kunena/emoticons/shocked.png

Hi,

Github is updates.
Joco, enable ve by setting the hal pin.

I thought to blend the rapids. I think this makes some sence.
 

doesn't non-zero end velocity lead to infinite jerks?

This is indeed a problem, i think if Joco test this on his machine he can get a following error.

velocity end=0

velocity end=1, here you see a vel-cmd jump.

Interesting graphs with the velocity commands diverging. Do we know why that is happening?