Trigger stop - Githubissues

pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

https://ruckig.com

MIT License

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Trigger stop #55

Closed iadonkey closed 3 years ago

iadonkey commented 3 years ago

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 commented 3 years ago

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 commented 3 years ago

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