Trigger stop

[iadonkey]

What is the best way to trigger a stop profile. My use case is as follows

• move 2 axes along a previously computed trajectory
• the “machine” operator pushes a stop button
• I want calculate smooth brake trajectory that stops the axes as fast as possible (max_velocity=X, max_acceleration=Y, target_velocity=0, target_acceleration=0)
• In this case I do not care about the target_position at all, but I can not simply set target_position = current_position

[pantor]

The velocity interface is exactly for that use-case. You can activate the velocity interface in C++ by setting input.interface = Interface::Velocity;, then the target position will be ignored.

[iadonkey]

Ok, thanks, works like a charm. Great work btw, thanks!