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motion/control: guard jerk decomposition for identity kinematics only #3890

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motion/control: guard jerk decomposition for identity kinematics only #3890

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14 changes: 5 additions & 9 deletions src/emc/motion/control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1398,21 +1398,17 @@ static void get_pos_cmds(long period)
joint->pos_cmd = cubicInterpolate(&(joint->cubic), 0, &(joint->vel_cmd), &(joint->acc_cmd), &(joint->jerk_cmd));
}

/* Use accurate jerk values from TP output (for Cartesian machines only)
* For standard XYZ machines, joint[0-2] correspond to X, Y, Z axes
* TP outputs: current_jerk (path jerk) and current_dir (direction unit vector)
* Per-axis jerk = path_jerk * direction_component
/* Use accurate jerk values from TP output for identity kinematics only.
* For KINEMATICS_BOTH (non-trivial joint mapping), joint indices don't
* necessarily correspond to XYZ axes, so keep cubic interpolator values.
*/
if (emcmotStatus->planner_type == 1) {
// S-curve mode: use accurate jerk values
if (emcmotStatus->planner_type == 1
&& emcmotConfig->kinType == KINEMATICS_IDENTITY) {
double path_jerk = emcmotStatus->current_jerk;
PmCartesian dir = emcmotStatus->current_dir;

// For the first 3 joints (assuming X, Y, Z), use accurate jerk
if (NO_OF_KINS_JOINTS >= 1) joints[0].jerk_cmd = path_jerk * dir.x;
if (NO_OF_KINS_JOINTS >= 2) joints[1].jerk_cmd = path_jerk * dir.y;
if (NO_OF_KINS_JOINTS >= 3) joints[2].jerk_cmd = path_jerk * dir.z;
// Rotary axes (A, B, C) keep the cubic interpolator values for now
}

/* report motion status */
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