Hi, I don't know how to create something functional. My idea is as follows:
Create a Gcod remap for example G5.4/5.5 (start and end of block in gcode)
Using the project from BigJohnT from this page
forum.linuxcnc.org/21-axis/30986-axis-position-logger?start=100
After creating the gcode, I would like to easily edit this code to spline using the remap code.
Original from position Logger:
Code:
G40 G80 G98
M6 T1 G43
S 20000 M3
G1 Z-100.0 F5000
G1 X583.8160 Y2785.3929 Z-80.0100 B-0.0060 C-180.6420
G1 X569.5160 Y2551.3630 Z-20.8590 B-0.0060 C-180.6420
G1 X569.5160 Y2551.3630 Z-534.4340 B-0.0060 C-180.6420
G1 X569.5160 Y2551.3630 Z-563.0960 B-0.0060 C-180.6420
G1 X587.9240 Y2551.3630 Z-562.6310 B-0.0060 C-180.6420
G1 X602.8020 Y2531.2934 Z-547.8260 B-0.0060 C-180.6420
G1 X616.4620 Y2550.4623 Z-563.0180 B-0.0060 C-180.6420
G1 X630.8120 Y2550.4623 Z-563.9780 B-0.0060 C-180.6420
G1 X601.7700 Y1631.0440 Z-563.0410 B-0.0060 C-180.6420
G1 X586.6920 Y1633.2648 Z-561.9940 B-0.0060 C-180.6420
G1 X574.5840 Y1656.0775 Z-546.8950 B-0.0060 C-180.6420
G1 X560.3560 Y1634.1061 Z-561.9290 B-0.0060 C-180.6420
G1 X545.8120 Y1634.7045 Z-562.6420 B-0.0060 C-180.6420
G1 X575.0200 Y2556.2819 Z-563.3090 B-0.0060 C-180.6420
G1 X575.0200 Y2556.2819 Z-543.9050 B-0.0060 C-180.6420
;
G1 Z-100.0 F20000
G1 X583.8160 Y2785.3929 Z-80.0100 B-0.0060 C-180.6420
M2
Edited:
Code:
G40 G80 G98
M6 T1 G43
S 20000 M3
G1 Z-100.0 F5000
G5.4 X583.8160 Y2785.3929 Z-80.0100 B-0.0060 C-180.6420
X569.5160 Y2551.3630 Z-20.8590 B-0.0060 C-180.6420
X569.5160 Y2551.3630 Z-534.4340 B-0.0060 C-180.6420
X569.5160 Y2551.3630 Z-563.0960 B-0.0060 C-180.6420
X587.9240 Y2551.3630 Z-562.6310 B-0.0060 C-180.6420
X602.8020 Y2531.2934 Z-547.8260 B-0.0060 C-180.6420
X616.4620 Y2550.4623 Z-563.0180 B-0.0060 C-180.6420
X630.8120 Y2550.4623 Z-563.9780 B-0.0060 C-180.6420
X601.7700 Y1631.0440 Z-563.0410 B-0.0060 C-180.6420
X586.6920 Y1633.2648 Z-561.9940 B-0.0060 C-180.6420
X574.5840 Y1656.0775 Z-546.8950 B-0.0060 C-180.6420
X560.3560 Y1634.1061 Z-561.9290 B-0.0060 C-180.6420
X545.8120 Y1634.7045 Z-562.6420 B-0.0060 C-180.6420
X575.0200 Y2556.2819 Z-563.3090 B-0.0060 C-180.6420
G5.5 X575.0200 Y2556.2819 Z-543.9050 B-0.0060 C-180.6420
;
G1 Z-100.0 F20000
G1 X583.8160 Y2785.3929 Z-80.0100 B-0.0060 C-180.6420
M2
From site
stackoverflow.com/questions/31543775/how...on/48085583#48085583
Example Python cede:
Code:
[code]def my_cubic_interp1d(x0, x, y):
"""
Interpolate a 1-D function using cubic splines.
x0 : a 1d-array of floats to interpolate at
x : a 1-D array of floats sorted in increasing order
y : A 1-D array of floats. The length of y along the
interpolation axis must be equal to the length of x.
Implement a trick to generate at first step the cholesky matrice L of
the tridiagonal matrice A (thus L is a bidiagonal matrice that
can be solved in two distinct loops).
additional ref: www.math.uh.edu/~jingqiu/math4364/spline.pdf
# original function code at: https://stackoverflow.com/a/48085583/36061
This function is licenced under: Attribution-ShareAlike 3.0 Unported (CC BY-SA 3.0)
https://creativecommons.org/licenses/by-sa/3.0/
Original Author raphael valentin
Date 3 Jan 2018
Modifications made to remove numpy dependencies:
-all sub-functions by MR
This function, and all sub-functions, are licenced under: Attribution-ShareAlike 3.0 Unported (CC BY-SA 3.0)
Mod author: Matthew Rowles
Date 3 May 2021
"""
def diff(lst):
"""
numpy.diff with default settings
"""
size = len(lst)-1
r = [0]*size
for i in range(size):
r[i] = lst[i+1] - lst[i]
return r
def list_searchsorted(listToInsert, insertInto):
"""
numpy.searchsorted with default settings
"""
def float_searchsorted(floatToInsert, insertInto):
for i in range(len(insertInto)):
if floatToInsert <= insertInto[i]:
return i
return len(insertInto)
return [float_searchsorted(i, insertInto) for i in listToInsert]
def clip(lst, min_val, max_val, inPlace = False):
"""
numpy.clip
"""
if not inPlace:
lst = lst[:]
for i in range(len(lst)):
if lst[i] < min_val:
lst[i] = min_val
elif lst[i] > max_val:
lst[i] = max_val
return lst
def subtract(a,b):
"""
returns a - b
"""
return a - b
size = len(x)
xdiff = diff(x)
ydiff = diff(y)
# allocate buffer matrices
Li = [0]*size
Li_1 = [0]*(size-1)
z = [0]*(size)
# fill diagonals Li and Li-1 and solve [L][y] = [B]
Li[0] = sqrt(2*xdiff[0])
Li_1[0] = 0.0
B0 = 0.0 # natural boundary
z[0] = B0 / Li[0]
for i in range(1, size-1, 1):
Li_1[i] = xdiff[i-1] / Li[i-1]
Li[i] = sqrt(2*(xdiff[i-1]+xdiff[i]) - Li_1[i-1] * Li_1[i-1])
Bi = 6*(ydiff[i]/xdiff[i] - ydiff[i-1]/xdiff[i-1])
z[i] = (Bi - Li_1[i-1]*z[i-1])/Li[i]
i = size - 1
Li_1[i-1] = xdiff[-1] / Li[i-1]
Li[i] = sqrt(2*xdiff[-1] - Li_1[i-1] * Li_1[i-1])
Bi = 0.0 # natural boundary
z[i] = (Bi - Li_1[i-1]*z[i-1])/Li[i]
# solve [L.T][x] = [y]
i = size-1
z[i] = z[i] / Li[i]
for i in range(size-2, -1, -1):
z[i] = (z[i] - Li_1[i-1]*z[i+1])/Li[i]
# find index
index = list_searchsorted(x0,x)
index = clip(index, 1, size-1)
xi1 = [x[num] for num in index]
xi0 = [x[num-1] for num in index]
yi1 = [y[num] for num in index]
yi0 = [y[num-1] for num in index]
zi1 = [z[num] for num in index]
zi0 = [z[num-1] for num in index]
hi1 = list( map(subtract, xi1, xi0) )
# calculate cubic - all element-wise multiplication
f0 = [0]*len(hi1)
for j in range(len(f0)):
f0[j] = zi0[j]/(6*hi1[j])*(xi1[j]-x0[j])**3 + \
zi1[j]/(6*hi1[j])*(x0[j]-xi0[j])**3 + \
(yi1[j]/hi1[j] - zi1[j]*hi1[j]/6)*(x0[j]-xi0[j]) + \
(yi0[j]/hi1[j] - zi0[j]*hi1[j]/6)*(xi1[j]-x0[j])
return f0
[/code]
I'm not a python programmer. Is it possible to make something similar work?
