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authorRobert W. Ellenberg <rwe24g@gmail.com>2014-04-17 12:59:22 -0400
committerChris Radek <chris@timeguy.com>2014-06-11 14:44:15 -0500
commit67b67368bddd38b9bd8aed88a47371616cbdf5ce (patch)
treed57b96bdb61b38f7c6a7da95d63494db879c6acc
parent4fe365fb30fd31d370750101f29aad1f081b430c (diff)
downloadlinuxcnc-67b67368bddd38b9bd8aed88a47371616cbdf5ce.tar.gz
linuxcnc-67b67368bddd38b9bd8aed88a47371616cbdf5ce.zip
Added missing test files for uneven axis vel
-rw-r--r--tests/trajectory-planner/circular-arcs/configs/uneven_axes.ini203
-rw-r--r--tests/trajectory-planner/circular-arcs/nc_files/vel_violation2.ngc20
-rwxr-xr-xtests/trajectory-planner/circular-arcs/octave/save_state.sh7
3 files changed, 230 insertions, 0 deletions
diff --git a/tests/trajectory-planner/circular-arcs/configs/uneven_axes.ini b/tests/trajectory-planner/circular-arcs/configs/uneven_axes.ini
new file mode 100644
index 000000000..c8faacb42
--- /dev/null
+++ b/tests/trajectory-planner/circular-arcs/configs/uneven_axes.ini
@@ -0,0 +1,203 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION = $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE = LinuxCNC-Circular-Blend-Tester-slowZ
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG = 0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+PYVCP = vcp.xml
+# Name of display program, e.g., xemc
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME = 0.06666666
+
+# Path to help file
+HELP_FILE = doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET = RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK = ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE = 2.0
+MAX_SPINDLE_OVERRIDE = 1.0
+
+MAX_LINEAR_VELOCITY = 5
+DEFAULT_LINEAR_VELOCITY = .25
+# Prefix to be used
+PROGRAM_PREFIX = ../nc_files/
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK = milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME = 0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT = motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT = 1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT = 0.010
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD = 0
+# Servo task period, in nano-seconds
+SERVO_PERIOD = 1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = test_status.tcl
+
+# Single file that is executed after the GUI has started. Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES = 3
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+CYCLE_TIME = 0.010
+DEFAULT_VELOCITY = 1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 14
+
+ARC_BLEND_ENABLE = 1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 100
+ARC_BLEND_GAP_CYCLES = 4
+ARC_BLEND_RAMP_FREQ = 20
+
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 3
+MAX_ACCELERATION = 20
+BACKLASH = 0.000
+INPUT_SCALE = 10000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_USE_INDEX = NO
+HOME_SEQUENCE = 0
+
+# Second axis
+[AXIS_1]
+
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 2
+MAX_ACCELERATION = 20
+BACKLASH = 0.000
+INPUT_SCALE = 10000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_USE_INDEX = NO
+HOME_SEQUENCE = 0
+
+# Third axis
+[AXIS_2]
+
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1
+MAX_ACCELERATION = 15
+BACKLASH = 0.0
+INPUT_SCALE = 10000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_USE_INDEX = NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO = io
+
+# cycle time, in seconds
+CYCLE_TIME = 0.033333
+
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
diff --git a/tests/trajectory-planner/circular-arcs/nc_files/vel_violation2.ngc b/tests/trajectory-planner/circular-arcs/nc_files/vel_violation2.ngc
new file mode 100644
index 000000000..832793b55
--- /dev/null
+++ b/tests/trajectory-planner/circular-arcs/nc_files/vel_violation2.ngc
@@ -0,0 +1,20 @@
+ G18
+ G21 G64 P.1
+ G0 X0.779 Y-1.317
+ Z5.0
+ Z-11.97 F9991300.0
+ G2 X5.779 Z-16.97 I5.0 K0.0
+ G1 X5.905 Z-16.868
+ X32.968 Z-10.72
+ X33.071 Z-10.904
+ G2 X38.071 Z-5.904 I0.0 K5.0 F9991300.0
+ G0 Z5.0
+ X67.365
+ Z-12.009
+ (G3 X62.365 Z-17.009 I-5.0 K0.0)
+ G3 X62.365 Z-17.009 R6
+ G1 X62.237 Z-16.907
+ X62.11 Z-16.817
+ X61.343 Z-16.32
+ X81.279 Z-16.276
+ M2
diff --git a/tests/trajectory-planner/circular-arcs/octave/save_state.sh b/tests/trajectory-planner/circular-arcs/octave/save_state.sh
new file mode 100755
index 000000000..66efc0c0d
--- /dev/null
+++ b/tests/trajectory-planner/circular-arcs/octave/save_state.sh
@@ -0,0 +1,7 @@
+#!/bin/bash -
+set -o nounset # Treat unset variables as an error
+
+if [ -a $1 ]
+then
+ awk '/tc state/ {print $5,$8,$11}' $1 > state_data.log
+fi