![]() From that, the control calculates where the arc centre is using the algorithm for an arc through 2 points with a given radius. When using the "R" format, within the program, you specify the start and end coordinates, plus the radius of the arc. If its not, the program is halted and an alarm is raised. The main reason for treating the "R" format with caution, is that when using I/J/K format, a check is done by the control to ensure the radius of the arc from the arc centre to the end point of the arc specified in the program is the same, within a tlerance set in parameters, as the radius from arc centre to the start point specified in the program. So i think not to confuse myself i'll do the I J thing.LOLWhen using I/J/K format, you describe to the control, the position of the arc centre relative to the start coordinate of the arc, which you have also specified in the program. A lot of folks say to stay away from that.
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![]() Along the way, you will add several improvements to the MiROS RTOS and you will see how fast it runs: ![]() Specifically, in this lesson you will implement the simple round robin scheduler that runs threads in a circular order. RTOS part-3: This third lesson on Real-Time Operating System (RTOS) shows how to automate the scheduling process. ![]() Specifically, in this lesson, you will start building your own minimal RTOS that will implement the manual context switch procedure that you worked out in the previous lesson: RTOS part-2: In this second lesson on RTOS you will see how to automate the context switch process. RTOS part-1: In this first lesson on RTOS you will see how to extend the foreground/background architecture from the previous lesson, so that you can have multiple background loops running seemingly simultaneously: If you’d like to understand how a Real-Time Operating System (RTOS) really works, here is a free video course for you: |
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