Comments (3)
Thanks for the report.
Yes, I can imagine that this will change things as the planner attempts to make the best decision w.r.t. smoothing the overall flow, but of course, that goes counter with small increments.
It is on our list to actually have some smooth 'jogging' feature with input e.g. from a joystick, but sometimes other projects come into the way :)
@lromor do you think it would be possible to configure the queue length at runtime ? We could have an M
-command that configures the planner queue length. This could immediately help in this case.
from beagleg.
I have to think about it a little bit more, but it sounds indeed more straightforward than implementing the direct motors control on the PRU. I would probably just leave https://github.com/hzeller/beagleg/blob/main/src/planner.cc#L267
the size of the the RingDequeue the same, just enforcing a shortening of the buffer using indices.
from beagleg.
@lromor added a new command M181
to set the planner queue length. This allows to change the planner queue length which can help in this case.
M181 S1
set the planner queue length to 1 so that each segment it receives will fully accelerate and decelerate. This might be more jerkey but should be fast to respond.M181
resets it back to the regular queue length.
Maybe a number a biit above one might be good, something like M181 S5
maybe ? Something to experiment with.
from beagleg.
Related Issues (20)
- Alignment trap: not handling instruction f843ec10 at [<00014c9a>] HOT 5
- beagleG runs on debian 8.3 problem, These is problem to Enable the STEP HOT 3
- Is there a plan to add more kinematics transformation to fit more different machine? HOT 2
- Problem about endstop setting for A B or C axis HOT 4
- homing does not work when step is too large HOT 3
- Warn if a pin-mapping for PWM is mapped to an unsupported pin
- Explore if eHRPWM can also be used for PWM generation HOT 3
- make test doesn't run all the tests HOT 1
- prussdrv_open fails with latest BB images HOT 9
- Small feed-rate: M114 shows zero and eventually hangs HOT 1
- E-Stop input is not checked HOT 1
- Testing with PostScript output broken HOT 2
- [feature] m command for get parser state HOT 9
- [Discussion] What to put in the status server ? HOT 12
- '/sys/devices/bone_capemgr.*/slots': No such file or directory HOT 12
- Build-system: make `test-binaries` only settles with the second call to make
- While in soft-estop: motors disabled (good), but no error reported when attempt to move.
- Aux outputs and input issues
- ESTOP should clear any internal queue
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