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| author | Robert W. Ellenberg <rwe24g@gmail.com> | 2014-04-14 23:26:29 -0400 |
|---|---|---|
| committer | Chris Radek <chris@timeguy.com> | 2014-06-11 14:44:15 -0500 |
| commit | 421282075af2dd84c4c02f4b1704de70e1c0a800 (patch) | |
| tree | b890c1f50bda9a78762f95a0da66986b00d35edd | |
| parent | 23c43516bdaab12503b87db7ad048028b2c18506 (diff) | |
| download | linuxcnc-421282075af2dd84c4c02f4b1704de70e1c0a800.tar.gz linuxcnc-421282075af2dd84c4c02f4b1704de70e1c0a800.zip | |
Troubleshooting canon
Reverted to 1-indexing, but this didn't solve the problem. It turns out
that XY rotation is to blame for choosing the wrong axis start / end
points, which had butchered the axis_len calculation. This current state
may not be right, but it runs on a few test programs so far.
| -rw-r--r-- | src/emc/nml_intf/canon.hh | 18 | ||||
| -rw-r--r-- | src/emc/task/emccanon.cc | 24 |
2 files changed, 25 insertions, 17 deletions
diff --git a/src/emc/nml_intf/canon.hh b/src/emc/nml_intf/canon.hh index 20d61275d..0261a7c1d 100644 --- a/src/emc/nml_intf/canon.hh +++ b/src/emc/nml_intf/canon.hh @@ -91,15 +91,15 @@ typedef int CANON_SIDE; #define CANON_SIDE_OFF 3 typedef int CANON_AXIS; -#define CANON_AXIS_X 0 -#define CANON_AXIS_Y 1 -#define CANON_AXIS_Z 2 -#define CANON_AXIS_A 3 -#define CANON_AXIS_B 4 -#define CANON_AXIS_C 5 -#define CANON_AXIS_U 6 -#define CANON_AXIS_V 7 -#define CANON_AXIS_W 8 +#define CANON_AXIS_X 1 +#define CANON_AXIS_Y 2 +#define CANON_AXIS_Z 3 +#define CANON_AXIS_A 4 +#define CANON_AXIS_B 5 +#define CANON_AXIS_C 6 +#define CANON_AXIS_U 7 +#define CANON_AXIS_V 8 +#define CANON_AXIS_W 9 /* Currently using the typedefs above rather than the enums below typedef enum {CANON_PLANE_XY, CANON_PLANE_YZ, CANON_PLANE_XZ} CANON_PLANE; diff --git a/src/emc/task/emccanon.cc b/src/emc/task/emccanon.cc index 53efb0fe9..ab5710f0b 100644 --- a/src/emc/task/emccanon.cc +++ b/src/emc/task/emccanon.cc @@ -1387,12 +1387,12 @@ void ARC_FEED(int line_number, first_start = canonEndPoint.x; second_start = canonEndPoint.y; - axis_start_point = canonEndPoint.z; break; case CANON_PLANE_YZ: + printf("case YZ\n"); // offset and align args properly end.tran.y = first_end; end.tran.z = second_end; @@ -1409,12 +1409,12 @@ void ARC_FEED(int line_number, first_start = canonEndPoint.y; second_start = canonEndPoint.z; - axis_start_point = canonEndPoint.x; rotate(normal.x, normal.y, xy_rotation); break; case CANON_PLANE_XZ: + printf("case XZ\n"); // offset and align args properly end.tran.z = first_end; @@ -1432,7 +1432,6 @@ void ARC_FEED(int line_number, first_start = canonEndPoint.z; second_start = canonEndPoint.x; - axis_start_point = canonEndPoint.y; rotate(normal.x, normal.y, xy_rotation); break; @@ -1447,25 +1446,32 @@ void ARC_FEED(int line_number, double axis_end_point_rotated; + // Get the appropriate axis end points to calculate length along normal axis switch (activePlane) { default: // to eliminate "uninitalized" warnings case CANON_PLANE_XY: axis_end_point_rotated = end.tran.z; + axis_start_point = canonEndPoint.z; break; case CANON_PLANE_YZ: - axis_end_point_rotated = end.tran.x; + //KLUDGE: geometrically this should be X, but xy_rotation makes it Y + axis_end_point_rotated = end.tran.y; + axis_start_point = canonEndPoint.y; break; case CANON_PLANE_XZ: - axis_end_point_rotated = end.tran.y; + //KLUDGE: geometrically this should be Y, but xy_rotation makes it X + axis_end_point_rotated = end.tran.x; + axis_start_point = canonEndPoint.x; break; } axis_len = fabs(axis_end_point_rotated - axis_start_point); printf("\naxis end point = %f, axis start point = %f\n", axis_end_point_rotated, axis_start_point); + printf("xy_rotation = %f\n",xy_rotation); - // KLUDGE Get axis indices of plane - int axis1 = (normal_axis + 1) % 3; - int axis2 = (normal_axis + 2) % 3; + // KLUDGE Get axis indices (0-indexed) corresponding to normal axis (1-indexed)... + int axis1 = (normal_axis ) % 3; + int axis2 = (normal_axis + 1) % 3; // Get planar velocity bounds v1 = FROM_EXT_LEN(axis_max_velocity[axis1]); @@ -1528,6 +1534,8 @@ void ARC_FEED(int line_number, } printf("ARC_FEED: vel = %f, tmax = %f\n",vel,tmax); + printf("start point %f %f %f\n",canonEndPoint.x,canonEndPoint.y,canonEndPoint.z); + printf("end point %f %f %f\n",end.tran.x,end.tran.y,end.tran.z); // for arcs we always user linear move since there is no // arc possible with only ABC motion |