[Emc-developers] new trajectory planner and other changes

[shackle <sh...@cm...>]

        

I just checked in a series of changes to CVS, including:



Modify the trajectory planner:
	- Eliminate 150% velocity spike when blending moves in the same
direction.
	- Limit the accelleration to the specified maximum. (Previously it
could
 be exceeded by as much as 300% when reversing direction.)
	- Reduce velocity for circular moves if needed to prevent too much 
accelleration.
	-- Moves that involve direction changes of 90 degrees or more are not 
blended.
	-- Begin work to support full 6-axis motion.


Changes emctask.cc and emctaskmain.cc so that the program line number stays on 
the last line being executed after an estop/fault/abort.

Use pmCartUnit instead of pmCartNorm

-- Will


-- 
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William Penn Shackleford III			sh...@ni...
National Institute of Standards & Technology	Tel:	(301) 975-4286
100 Bureau Drive Stop 8230			FAX:	(301) 990-9688
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