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[00:00:09] <ysli> I know that implementation
[00:01:41] <ysli> Please pull our git repository; compile; and run the axis.ngc
[00:01:48] <ysli> you can feel the difference
[00:02:03] <ysli> It's for simulation only
[00:02:16] <ysli> I haven't tested it in real hardware yet.
[00:04:22] <ysli> This mode is enabled by MACRO.
[00:04:43] <micges> macro from gcode?
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[00:05:22] <ysli> To disable this mode, "#undef SMLBLND" at tp.c, and re-compile it
[00:05:37] <micges> ah ok
[00:05:44] <ysli> so that you may compare the difference
[00:06:22] <micges> what is link to yours git?
[00:06:57] <ysli> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ArtekBranch
[00:07:58] <micges> ok
[00:09:46] <ysli> git clone
https://github.com/araisrobo/linuxcnc.git
[00:12:04] <ysli> micges: I have to leave
[00:12:08] <ysli> bye bye
[00:12:23] <micges> see you
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[01:47:25] <jepler> I verified that in v2.5_branch a blend from two tangent primitives doesn't drop velocity. config: sim/axis nc file:
http://emergent.unpythonic.net/files/sandbox/ala.ngc halscope:
http://emergent.unpythonic.net/files/sandbox/halscope-vel-is-constant.png
[01:47:38] <jepler> as you can see, my code tests arc-line, line-arc, and arc-arc cases
[01:50:23] <jepler> I assume that what I'm overlooking is that my primitives are well above the critical size that can have a full trapezoidal velocity profile that reaches the commanded rate, and ysli's doesn't necessarily
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[09:34:42] <ysli> jelper: hi
[09:36:03] <ysli> jelper: I saw your irc message about the sim/axis.ini, ala.ngc, and v2.5_branch
[09:36:20] <ysli> jelper: I pulled v2.5_branch
[09:36:34] <ysli> and got the same result as you did
[09:37:01] <ysli> Then, I noticed one interesting difference
[09:41:04] <ysli> In sim/axis.ini, the MAX_VELOCITY = 4 (inch/sec) and MAX_ACCELERATION = 100 (inch/(sec*sec))
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[09:42:57] <ysli> for araisrobo/xyza-sim.ini, MAX_VELOCITY = 15.83(mm/sec) and MAX_ACCELERATION = 150(mm/(sec*sec))
[09:44:49] <ysli> If I modify the setting of sim/axis.ini as MAX_VELOCITY = 0.6232, MAX_ACCELERATION = 5.905
[09:45:59] <ysli> Then, I could observe the slow down between line-arc, arc-arc segments
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[10:08:55] <ysli> the PIN::motion.current-vel has small glitch between some segments
[10:10:17] <ysli> however, the SIGNALs:XYvel is smooth
[10:28:36] <ysli> It's very possible that I did not port the blending algorithm right for s-curve; that's why I could observe significant velocity change between segments.
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[15:31:00] <jepler> I trust XYvel more than I trust motion.current-vel, since XYvel is computed in hal with ddt and hypot and I haven't read the code related to motion.current-vel calculation
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[15:33:45] <cradek> ysli> It's very possible that I did not port the blending algorithm right for s-curve;
[15:34:16] <cradek> jepler: you realize he's making these changes to his modified planner?
[15:34:38] <cradek> I don't think he's proposing that the existing one blends badly, he's just improving his modified one
[15:41:55] <jepler> well, there is *something* a bit odd in v2.5_branch.
http://emergent.unpythonic.net/files/sandbox/halscope-velocity-.01percent-small.jpg
[15:42:30] <cradek> .01 percent?
[15:43:07] <cradek> and did you just make a jpg of a screenshot? are you really jepler?
[15:43:25] <jepler> hah
[15:43:32] <cradek> have you been drinking again?
[15:43:42] <jepler> oops, my math was wrong too. 500 micro / .62320 is more like .1%
[15:43:56] <jepler> http://emergent.unpythonic.net/files/sandbox/halscope-velocity-.01percent.png
[15:44:17] <jepler> my uploader automatically thumbnails, choosing a jpg thumbnail if its filesize beats png
[15:44:47] <jepler> and I chose the wrong URL
[15:47:28] <jepler> so anyway, one might still ask the question of why motion.current-vel has an apparent velocity glitch that's several times as big as the more-likely-real variation in XYvel
[15:48:55] <cradek> do you know which blends it is?
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[15:51:07] <jepler> that trace shows lines 4-7 of the gcode, so it's "all of them"
[15:55:34] <jepler> and this is with modified maxvel and maxaccel
http://emergent.unpythonic.net/files/sandbox/changed-limits.patch
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[15:59:02] <jepler> there are different (and bigger!, most of .004in/s but only for 1 or 2 cycles) XYvel glitches with reverted axis.ini
[16:00:31] <jepler> http://emergent.unpythonic.net/files/sandbox/halscope-more-glitch.png
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