Looking at the math some more, it seems like Sebastian's suggestion really ought to work. It seems like I should be able to do something like this at the end of my code before looping back to the beginning:
#<oldx> = [#<_x>] #<oldy> = [#<_y>] #<theta> = [[atan[#<_y>]/[#<_x>]] + 90.0] #<x> = [cos[#<theta>]] #<y> = [sin[#<theta>]] G1 X#<x> Y#<y> G10 L20 P0 X#<oldx> Y#<oldy> That G10 L20 doesn't seem to be doing the right thing though. Printing out coordinates looks good, but when it wraps around to the beginning it seems to go to some gigantic coordinates out of range. -- Ralph ________________________________________ From: andy pugh [[email protected]] Sent: Friday, March 16, 2018 1:00 PM To: Enhanced Machine Controller (EMC) Subject: Re: [Emc-users] joint/axes question (2.8-pre) On 16 March 2018 at 19:29, Ralph Stirling <[email protected]> wrote: > This offset approach is proving harder than I expected. I think it is > because I'm > using the PID-driven stepgen approach generated by pncconf (7i92 board). Ah, yes, that will make things harder. You could try using a conventional non-PID setup, those always used to work pretty well, if not quite so well as the PID based one. > I think the velocity gets messed up by the step function in position, > and the pid loop is using velocity. Any further suggestions for > achieving my invisible 90 degree rotations? You could put a limit3 component between the G-code output and the offset input. That would remove the step. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
