Hi:
>>But what are the specific ends you are trying to achieve?
All of the things you mention really. The problem lies in the way planners typically plan a motion. When acceleration is applied, its applied fully
until the motors get up to speed, when decelerating, the decel is applied at full rate to slow down. This causes "Jerk", the immediate slowing down of mass
which causes a jerk on the motors and mechanics.
Tempest applies the accel is a sine wave template, so its much smoother. Its an attempt to make motion in cnc more like driving a car where the accelerator
is pressed in an analogue motion dependingh on requirement.
As the thread says though, this makes most motion take up to 30% longer.. the guy with the binary accelerator pedal DOES get to his destination faster,
but its harder on the vehicle and brakes. The challenge usually is the small segement code, where its hard to concatenate small segments to move quickly.
Tempest is an experiment producing 5th order waveforms instead of 3rd order as is typical. It does achive less error in the pah, smoother motion and defined
limits in mechanical stress, but at the expense of speed. MOre work willlikely be done this summer to see what can be done to address the time compnents.
Art