Trajectory Planner using Ruckig Lib

Hi,

It took a long time, but finally the scurve jog library works for linuxcnc including jog-step.
Jog-step is to move a certain distance each button press.

Therefore the scurve library needed a position & velocity control mode.

Next i will try to compare the difference in time performance between the ruckig and scurve library.
This is always nice to know.

It is still possible to select ruckig or scurve in the source code here.

github.com/grotius-cnc/scurve_construct/

Later on in the video the jog-step is shown.


 

When jogging in linuxcnc, we logged the time for both ruckig and grotius-scurve in 2 sessions.

Grotius-scurve session:
Function duration: 10329 nanoseconds
Function duration: 2194 nanoseconds
Function duration: 2515 nanoseconds
Function duration: 6766 nanoseconds
Function duration: 1884 nanoseconds
Function duration: 1764 nanoseconds
Function duration: 5985 nanoseconds
Function duration: 2053 nanoseconds
Function duration: 1823 nanoseconds
Function duration: 8252 nanoseconds
Function duration: 1510 nanoseconds
Function duration: 1358 nanoseconds

Ruckig session:
Function duration: 21779 nanoseconds
Function duration: 9161 nanoseconds
Function duration: 10252 nanoseconds
Function duration: 20288 nanoseconds
Function duration: 8817 nanoseconds
Function duration: 10302 nanoseconds
Function duration: 52762 nanoseconds
Function duration: 42609 nanoseconds
Function duration: 32094 nanoseconds
Function duration: 24196 nanoseconds
Function duration: 41582 nanoseconds
Function duration: 32464 nanoseconds
Function duration: 45580 nanoseconds

This is good news.
Also the grotius-scurve is in principle a more powerfull scurve wich includes a linear acceleration stage between
the concave & convex curvatures, where the ruckig curve is like a spline with no linear stages possible.

Next thing to do is integrate the grotius-scurve into the linuxcnc motion planner.
The first integration is without any look ahead. Where the motion starts and stops every gcode line.
When this is working, we will work on the look ahead, and test the  angular motion "arc" speeds.

So far so good.



 

Bravo you just unstoppable cheers to you ......

Grotius the MVP . I dont know about others, but i would be happy to donate to the further development of s curve in the motion planner.

Hi Routerman,

I hope Tommylight can open a "non profit" bank account in Kosovo for forum donations.
It will certainly help to cover the forum costs, server costs, forum day's.

Hi,

A little update.

I already cleaned up the trajectory planner code, and can start from a clean code template.
Parts of the code is still there. Only the motion part has to be renewed.

Today i added end velocity to the scurve library. Without this each motion should end to zero velocity.
This end velocity option can be used in the trajectory planner's look
ahead function involving path rules. Some gcode motion transitions may contain a end velocity.

Attached a test video that run's a few motion commands using a velocity end value.
It's important given a end position and a end velocity,  the motion finishes there.