LinuxCNC最新版本代码在核心控制算法上进行优化改进了很多,目前新的插补器支持了NURBS功能和前瞻控制。
实际测试来看,新算法控制效果确实很nice。但要想再继续改造此算法就有些困难了,因为改动很大,需要重新梳理。
以下先摘抄一段说明出来简单介绍下,后续再慢慢研究。
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14.7 G5.1 Quadratic B-spline
G5.1 X- Y- I- J-
• I - X axis offset
• J - Y axis offset
G5.1 creates a quadratic B-spline in the XYplane with the X and Y axis only. The offsets are I for X axis and J for Yaxis.
It is an error if:
• I and J offset is not specified
• An axis other than X or Y is specified
• The active plane is not G17
14.8 G5.2 G5.3 NURBs Block
G5.2 X- Y- P- <L->
X- Y- P- <L->
...
G5.3
Warning: G5.2, G5.3 is experimental and notfully tested.
G5.2 is for opening the data b