Kinematics in EMC

[fer_mayrl]

Hello,
Does anyone know if the kinematics implemented in emc are end of move based, or do they follow the profile step by step.
I got kinematics working on Mach3, but because the calculations on the formulas are end point based, the machine doesnt follow the proyected trayectory, instead it goes directly to the enf point. So if you trace a line, and have themachine trace it, the machine might not follow the line as it is supposed to, it just goes to the end point without caring which direction to take.
So, does EMC do kinematics on a step by step basis, or end point basis like mach 3
Regards
Fernando

[unterhaus]

There is a trajectory planner that tries to look ahead to the next move. It's not end point based. Your description of Mach3 behavior sounds a little strange. Have you asked over in the Mach forum?

[fer_mayrl]

Yes I have, and art says that is the way it works for now, he has shown interest in fixing this problem, but who knows if and when it will be ready.

Is it hard to implement custom kinematics in EMC, i have read a lot, in the manuals and mailing lists, and I cant find even how to get started.
Thanks
Fernando

[unterhaus]

I just saw a discussion of this on one of the mailing lists, but I forget the details. I think you just have to change the makefiles. Right now there is a file called trivkins.c (I think) and .h.

You have to replace them. The trajectory planner is actually different, I believe.

edited to get the name of the kinematics file right.