cncpp 26

This project is based on the reference repository provided for the course:

• Reference repository: https://github.com/pbosetti/cncpp

Lecture Notes

• check the CMAKELIST.TXT: if it's the same of the professor

20260506

1. How to create a complex executable which is worling in every condition:

• we use the finite state machine

• IoT Techs needed to communicate with the machine

• per stoppare qualcosa

kill -SIGINT PID

cmake -S . -B build -G Ninja --log-level=VERBOSE

ctr+z -> pausing bg -> resume in backgraund fg -> resume in foreground kill

About Rerun viewer

• save recording or blue-prints options!

About MADS

• -p 5: period for forward integration

• Triggered mode: waiting a new setpoint that arrived before calculating the current position -> literally triggered

  1. Listen for axes pos.
  2. Calculate the current position
  3. Updates

• The other method the integration follows a defined time step (-p 5ms)

We can't use the normal mode for the FMU: there wont be a perfect synchro, due to the FMU is following another clock

COme lanciare

Run view, director: fmu through director

Need:

• viewer
• director
  • fmus

Launching

1. cnc command: build/cnc test.g:

2. Z: goes to zero (in alto) -> isn't moving: ok

3. Space: rapid motion -> start machining

4. Z: moves to zero

Note: se le linee non sono perfettamente dritte è perché abbiamo la dinamica del sistema!

Project Work

• mandatory written part: coding and theory + discussion of the written part + an oral

max grade with written part: 26/30

Or: personal project

• In the CONTRACT.md all the details of the project: what I write in the contract, is what I need to get!

• at least a copule of feature, than propose one (if wnated)