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author | Robert W. Ellenberg <rwe24g@gmail.com> | 2014-04-17 12:59:22 -0400 |
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committer | Chris Radek <chris@timeguy.com> | 2014-06-11 14:44:15 -0500 |
commit | 67b67368bddd38b9bd8aed88a47371616cbdf5ce (patch) | |
tree | d57b96bdb61b38f7c6a7da95d63494db879c6acc | |
parent | 4fe365fb30fd31d370750101f29aad1f081b430c (diff) | |
download | linuxcnc-67b67368bddd38b9bd8aed88a47371616cbdf5ce.tar.gz linuxcnc-67b67368bddd38b9bd8aed88a47371616cbdf5ce.zip |
Added missing test files for uneven axis vel
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 |