Need help with arcs transitioning to lines.

[Derek]

I ran it with both accelerations the same and used slow motion video to capture the Fact DRO. It drops down to 56.1 on my machine.

It is better with the accelerations matched for sure.

Thanks
Derek

[ger21]

To fix this exact case the whole trajectory planner should be rewritten using fully different algorithms which we can't do now.

Hopefully this can be addressed when the S-Curve accel is added?

[Gary Campbell]

Gerry...
Doesn't his video remind you of the ones I sent? S curve acceleration may help, but my guess is that centrifugal/centripetal settings and a larger lookahead (of a few thousand lines) cures it.

[ger21]

I didn't look at the code, so I don't know if it's the same issue.

I wasn't saying S Curve would help. It wont.
I was saying that when they add S-Curve, maybe they can change the planner.

[cncdrive]

Yes, we already learnt a lot from developing the UCCNC and I think I have mentioned before that we see the limits of the current trajectory planner algorithm and we already figured and thought out a different one which could work even more optimal than the current one and would have less limitations and could also implement S-curve acceleration. The current one could not implement S-curving.
So, yes, we can resolve the limitation of this example code the same time when we will implement the S-curve acceleration, because both require a new and different algorithm.