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CNC SmoothPath, cone orbit, and Vision templates - #42
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Template names cannot contain spaces and are saved as name_WIDTHxHEIGHT.jpg so a 2000x2000 snip is not used on a 640x400 locate. The Vision page no longer grabs a frame on load, and Capture Image no longer hits /captured_image twice.
Vision now has Capture, ROI, and Templates. The old /vision/files URL redirects to /vision/templates. Animator and Bluetooth stay as top-level apps.
When InterfaceAsPlainText is present, the textconv normalizer drops the structured variable/inputVars/baseType copy and extra plaintext copies so GitHub Desktop does not show the same edit twice.
Insert SMC_SmoothPath between the NC interpreter and CheckVelocities with its own GEOINFO buffer. M500-M515 wait on flags and clear them. Negate J6 IK seed and ControlAxisByPos set position. Disable AvoidGaps and lower gap dynamics. CNC_Cone.cnc is the in-progress G91 cone path. Restore UTF-8 in the PLCOpen export.
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Summary
PLC CNC path preprocessing and an in-progress cone program, plus Vision template UX and cleaner CODESYS XML diffs. Stamped
v2.2026.38.1-Cnc.CNC / PLC
SMC_SmoothPathbetweenSMC_NCInterpreterandSMC_CheckVelocities, with its ownGEOINFObuffer (_SMC_GEOINFO_Smooth).dQ5_oldandControlAxisByPosset position are negated so the wrist follows the 6DOF trafo sign.AvoidGapsoff; gap velocity/accel/jerk lowered (lag faults were beating gap close at ~180°).eOriConvstays on the processor convention (ZYX).ADDAXESis commented — flipping the shared convention still feeds J4/J5/J6 as Euler and faults the group.Codesys/_cnc/CNC_Cone.cnc: G91 cone orbit (WIP). Jog TCP on the apex, tool Z along the axis, then run.Vision
/vision/filesredirects to/vision/templates.name_WIDTHxHEIGHT.jpg(no spaces) so a 2000×2000 snip is not used on a 640×400 locate./captured_imagetwice.Tooling
codesys-git-difftextconv: ifInterfaceAsPlainTextis present, drop the structured duplicate so GitHub Desktop does not show the same ST edit twice.