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@grotius-cnc grotius-cnc released this 18 Nov 12:51
· 72 commits to main since this release
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Learn about vigilant mode.

Hi,

This is a archive where skynet has loaded a gcode file and previewed it in opencascade and a textbox.
The gcode can be moved around in 3d.

It is now almost ready to create the gcode trajectory planner cq. runner that lives in:
/opt/hal-core/src/hal/components/skynet/cpp_interface/libgcode/gcode_interface.cpp

In a nutshell:
The gcode trajectory is done by a single Dofs scurve motion planner. Then the results of the single Dofs
are interpolated into cart xyz and euler xyz TCP coordinates.

When the trajectory planner is ready:
The machine will then try to follow the TCP gcode coordinates every 1ms in AUTO mode.
If the machine is not capable of following the gcode path with current hal setup parameters like maxvel etc.
A message will be shown in the format of "follow error= .. mm". And it will record a max follow error.

cyberdyne_reads_gcode

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