scurve trajectory planner

@Bkt,

Did you do a vision system study?
Greetings.

Hi,

Here is the first test result of the triangle centroid path smooth algo.
The algo is not finished yet, as this is only the first iteration. The second
iteration smooth's even more.

G64 P5 => it indeed filters out the 5mm spikes in the gcode.

Scurve + cenroid smooth
 

Original planner
 

Hi,

I changed the planner's infrastructure so it can use different smooth algo's easy.
This was quite a lot off work.

Now this is the centroid smooth algo on the left. First iteration.
And a catmull rom spline on the right. Second iteration.
The distance from the corners to the spline is the exact G64 P[x] value.
First and last gcode line are original, not curved.

The distance from the corners to the spline is the exact G64 P[x] value.

Yay!

oooh

I build a small pyvcp side panel and did some gcode coding to build a test program. Not finished yet, but I think it will be handy for testing.

Random values and one can change the limits on the go via the panel.

Sorry for the bad video and picture quality. 
Video