agalakhov

On S-Curve aceleration of stepper and servo motors

Alexey Galakhov, 2024

Abstract

We present an algorithm for interpolation S-curve jerk limited acceleration. Our algorithm can be implemeted as integer-only using ARM Cortex M4 vector instructions with only a few instructions per step, thus theoretically capable of generating 100s kHz of steps for multiple axes on a regular Cortex M4. The steps generated are always accurate, there is no error accumulation over time.

Introduction

Most of stepper motor controller designs for 3d Printers and small CNC milling machines use STEP-DIR-based driving with steps generated in software. While cruise moves require just uniform step generation, acceleration and decceleration are much more complex due to their speed profiles.

The state-of-art acceleration (and decceleration) nowadays consider maximal velocity, acceleration and jerk (the first derivative of acceleration over time) in order to make movements as smooth as possible. Jerk-limited control is known to

suhr

Упражнения по формальным доказательствам

Нет времени объяснять, переходим сразу к делу.

Инструменты

Доказывать теоремы мы будем, используя интерактивные пруверы Isabelle или Lean 3. Примеры приводятся для каждого прувера, для решения задач же можно использовать любой из них.

YBogomolov

// Inspired by https://github.com/Munksgaard/session-types

interface Chan<Env, Protocol> {
  env_and_protocol: [Env, Protocol];
}

class Eps implements HasDual {
  readonly tag: 'Eps' = 'Eps';
  readonly dual!: Eps;
}

varyen

export default {
  name: 'NoIndex',

  functional: true,

  props: {
    tag: {
      type: String,
      default: 'div',
    },

robballou

{
  "presets": [
    [
      "@babel/env",
      {
        "targets": {
          "node": "current"
        },
        "shippedProposals": true
      }

sirsquidness

# This config came around after a friend had problems with a Steam cache on his
# Cox internet connection. Cox would intercept any requests to Steam content
# servers and return a 302 to Cox's servers. The cache would return the 302
# to the Steam client, and the Steam client would go directly to Cox, bypassing
# the cache.
# This config makes nginx follow the 302 itself, and caches the result of the
# redirect as if it was the response to the original request. So subsequent
# requests to the URL that returned a 302 will get the file instead of a 302.

smrchy

_queryTreeSort

Note: Please check this blog post for more details on these functions.

Sort a SQL query with id and parentid so that the rows have the correct order of the tree.

Parameters:

• q (Array): A query result (see example below)

imankulov

# pip install watchdog
exec watchmedo shell-command --patterns='*.rst;*.py' --ignore-pattern='_build/*' --recursive --command='make html' --wait

endolith

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