Current trajectory planner is not suitable for any machines with non-trivial kinematics. Please take a look for the following code at getStraightAcceleration() on emccanon.cc:
tx = dx? (dx / FROM_EXT_LEN(AXIS_MAX_ACCELERATION[0])): 0.0;
For non-trivial kinematic machines, such as SCARA, the dx is contributed by several joints other than AXIS_0. However, the above code assume that it...
2009-11-08 12:20:02 UTC in Enhanced Machine Controller
