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| author | Robert W. Ellenberg <rwe24g@gmail.com> | 2014-01-27 19:37:40 -0500 |
|---|---|---|
| committer | Chris Radek <chris@timeguy.com> | 2014-06-11 14:44:03 -0500 |
| commit | 38589349a2897a55e67433331c3f00764919d890 (patch) | |
| tree | b3f0e03aa5da53686a492d4eca262c568919031d /tests/trajectory-planner/circular-arcs | |
| parent | 6d4abbeb41af5cf66f0f53657c99e3437fa75325 (diff) | |
| download | linuxcnc-38589349a2897a55e67433331c3f00764919d890.tar.gz linuxcnc-38589349a2897a55e67433331c3f00764919d890.zip | |
Added Gap cycles as replacement for smoothing setting
Diffstat (limited to 'tests/trajectory-planner/circular-arcs')
3 files changed, 6 insertions, 12 deletions
diff --git a/tests/trajectory-planner/circular-arcs/circular_arcs.ini b/tests/trajectory-planner/circular-arcs/circular_arcs.ini index c4bfc7b95..97f445313 100644 --- a/tests/trajectory-planner/circular-arcs/circular_arcs.ini +++ b/tests/trajectory-planner/circular-arcs/circular_arcs.ini @@ -129,10 +129,8 @@ MAX_LINEAR_VELOCITY = 12 ARC_BLEND_ENABLE = 1 ARC_BLEND_FALLBACK_ENABLE = 0 ARC_BLEND_OPTIMIZATION_DEPTH = 50 -#Assume smooth velocity changes for line segments that are reduced in length by this factor -ARC_BLEND_SMOOTHING_THRESHOLD = .80 -#How much (0.0 .. 1.0) of the next segment a blend arc is allowed to consume -ARC_BLEND_GREEDINESS = 0.65 +ARC_BLEND_GAP_CYCLES = 2 +ARC_BLEND_GREEDINESS = 0.5 # Axes sections --------------------------------------------------------------- diff --git a/tests/trajectory-planner/circular-arcs/circular_arcs_rt.ini b/tests/trajectory-planner/circular-arcs/circular_arcs_rt.ini index aa3058738..b4bc0f053 100644 --- a/tests/trajectory-planner/circular-arcs/circular_arcs_rt.ini +++ b/tests/trajectory-planner/circular-arcs/circular_arcs_rt.ini @@ -128,11 +128,8 @@ MAX_LINEAR_VELOCITY = 12 ARC_BLEND_ENABLE = 1 ARC_BLEND_FALLBACK_ENABLE = 0 ARC_BLEND_OPTIMIZATION_DEPTH = 50 -#Use this setting for no smoothing (for debugging and stress-testing) -ARC_BLEND_SMOOTHING_THRESHOLD = .3 -#Use this setting for "normal" smoothing, i.e. if we blend over more than 40% of a segment -#ARC_BLEND_SMOOTHING_THRESHOLD = 0.40 -ARC_BLEND_GREEDINESS = 0.6 +ARC_BLEND_GAP_CYCLES = 2 +ARC_BLEND_GREEDINESS = 0.5 # Axes sections --------------------------------------------------------------- diff --git a/tests/trajectory-planner/circular-arcs/test-debug.sh b/tests/trajectory-planner/circular-arcs/test-debug.sh index e94f52c90..96013a8c0 100755 --- a/tests/trajectory-planner/circular-arcs/test-debug.sh +++ b/tests/trajectory-planner/circular-arcs/test-debug.sh @@ -2,12 +2,11 @@ set -o monitor ./build-debug.sh cp position.blank position.txt -linuxcnc configs/circular_arcs_medium.ini > test.log & -python machine_setup.py $1 +linuxcnc $1 > test.log & +python machine_setup.py $2 fg ./process_runlog.sh test.log #if [ -a movement.log ] #then #octave/plot_movement.m #fi -exit $1 |