update axis_mm.ini home

grotius-cnc · grotius-cnc · commit 3a804b21fdf2 · 2024-03-09T15:09:31.000+01:00
diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
@@ -173,7 +173,7 @@ add_subdirectory(${SRC_DIR}/projects/qt_occ_draw)
 # Experimental scurve motion planner.
 # add_subdirectory(${SRC_DIR}/components/sc_tp)
 
-# add_subdirectory(${SRC_DIR}/vendor/scurve)
+add_subdirectory(${SRC_DIR}/vendor/scurve)
 
 
 
diff --git a/cmake/vendor/build-scurve-Desktop-Debug/.ninja_log b/cmake/vendor/build-scurve-Desktop-Debug/.ninja_log
@@ -1,107 +1,11 @@
 # ninja log v5
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diff --git a/cmake/vendor/scurve/README.md b/cmake/vendor/scurve/README.md
@@ -1,6 +1,9 @@
 ### scurve_motion Library
 
-![S-curve Motion](screen.jpg)
+position control
+![S-curve Motion](position_control.jpg)
+velocity control
+![S-curve Motion](velocity_control.jpg)
 
 ### Overview
 
@@ -13,62 +16,36 @@ The `scurve_construct` library is a C++ library designed for jogging and positio
 - Support for both forward and reverse jogging.
 - Linear acceleration stage between concave & convex curve depending on jerk value.
 - Gui project to preview curve outputs in a qt-realtime-plot.
+- Velocity control.
 - Position control.
 
 ### Language
 
-- ~/scurve_construct_c  C  
-- ~/scurve_construct    C++ 
+C & C++.
 
 ### Example for c
 
 ```
-#include "scurve_construct.h"
-#include <stdio.h>
-#include <stdbool.h>
-
-int main(int argc, char *argv[]) {
-
-    double jermax = 10;
-    double accmax = 10;
-    double maxvel = 10;
-    double curvel = 0;
-    double curacc = 0;
-    double cyctim = 0.001;
-    struct scurve_data d;
-
-    set_init_values(jermax,
-                    accmax,
-                    curvel,
-                    curacc,
-                    maxvel,
-                    cyctim,
-                    &d);
-
-    // Run up to the fwd tarpos.
-    jog_forward_pressed(&d);
-
-    double vr, sr, ar;
-    d.fwd_tarpos= 10;
-    d.rev_tarpos = -10;
-
-    while(1){
-
-        // Update curve cycle.
-        int state=update(&d, &vr, &ar, &sr);
-
-        printf("state: %i ", state);
-        printf("vr: %f ", vr);
-        printf("ar: %f ", ar);
-        printf("sr: %f \n", sr);
-
-        if(state){
-            break;
-        }
-
-    }
-    return 0;
+#include "scurve_construct.h" 
+
+double jermax=5;
+double maxacc=5;
+double maxvel=10;
+double intval=0.001;
+struct scurve_data s;
+ 
+while(!s.finish){
+	s=set_init_values_c(jermax,maxacc,maxvel,intval,s);
+	s=jog_position_c(s,enable,tarpos); 		// Use position control.
+	// s=jog_velocity_c(s,enable,tarpos); 	// Use velocity control.
+	s=scurve_play_c(s);
+    
+	// Results:
+	s.guiacc
+	s.guipos
+	s.guivel
 }
+ 
 ```
 
 ### Prerequisites
diff --git a/cmake/vendor/scurve/gitnotes.txt b/cmake/vendor/scurve/gitnotes.txt
@@ -0,0 +1,18 @@
+# This are notes to run some git commands from terminal. 
+
+git init
+git config --global init.defaultBranch master
+git remote add origin https://github.com/grotius-cnc/scurve_construct.git
+git add .
+git branch -M main
+git push -u origin main
+
+git add .
+git commit -m "commit"
+
+git push -f origin main		# this is force, will destroy history.
+git push -u origin main    
+
+git pull					# To update the local clone 
+
+>> .gitignore				# Add .gitingore file to the project to skip upload of dirs & files.
diff --git a/cmake/vendor/scurve/info.txt b/cmake/vendor/scurve/info.txt
@@ -0,0 +1 @@
+the scurve_struct.h is duplicated in /emc/motion/ dir.
diff --git a/cmake/vendor/scurve/position_control.jpg b/cmake/vendor/scurve/position_control.jpg
diff --git a/cmake/vendor/scurve/scurve_construct_plot/mainwindow.cpp b/cmake/vendor/scurve/scurve_construct_plot/mainwindow.cpp
@@ -10,7 +10,6 @@ double maxacc=10;
 double maxvel=10;
 double intval=0.01;
 int enable=0;
-int mode=0;
 double tarpos=0;
 extern "C" struct scurve_data set_init_values_c(double jermax,
                                   double accmax,
@@ -81,11 +80,6 @@ MainWindow::MainWindow(QWidget *parent) :
     timer = new QTimer(this);
     connect(timer, SIGNAL( timeout() ), this, SLOT( updatePlot() ) );
     timer->start( timeInterval );
-
-
-
-    // scurve_construct().set_init_values(jermax,maxacc,curvel,curacc,maxvel,intval,s);
-
 }
 
 MainWindow::~MainWindow()
@@ -104,7 +98,6 @@ void MainWindow::updatePlot()
     m_XData.append( timeValue );
 
     s=set_init_values_c(jermax,maxacc,maxvel,intval,s);
-    // s=jog_velocity_c(s,enable,tarpos);
     s=jog_position_c(s,enable,tarpos);
     s=scurve_play_c(s);
 
diff --git a/cmake/vendor/scurve/velocity_control.jpg b/cmake/vendor/scurve/velocity_control.jpg
diff --git a/configs/sim/axis/axis_mm.ini b/configs/sim/axis/axis_mm.ini
@@ -220,7 +220,7 @@ HOME_LATCH_VEL = 25.4
 HOME_USE_INDEX = NO
 HOME_IGNORE_LIMITS = NO
 HOME_SEQUENCE = 1
-HOME_IS_SHARED = 1
+HOME_IS_SHARED = 0
 MAX_JERK = 500
 
 [JOINT_1]
@@ -260,6 +260,6 @@ HOME_SEARCH_VEL = 127
 HOME_LATCH_VEL = 25.4
 HOME_USE_INDEX = NO
 HOME_IGNORE_LIMITS = NO
-HOME_SEQUENCE = 0
-HOME_IS_SHARED = 1
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 0
 MAX_JERK = 500
diff --git a/src/emc/motion/simple_tp.h b/src/emc/motion/simple_tp.h
@@ -39,7 +39,6 @@ typedef struct simple_tp_t {
     double curr_acc;
     double max_jerk;
 
-    int init;
     struct scurve_data data;
 } simple_tp_t;
 

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	`+the scurve_struct.h is duplicated in /emc/motion/ dir.`