SIMPLE_TP(9)

✨ SIMPLE_TP 💖 (section 9, HAL Component baybee)

okay so bestie, gather round, because we're talking about simple_tp — and no, it's not a fancy new app, it's a single axis simple trajectory planner 🌸 and it's literally the same one that LinuxCNC uses for jogging. same vibes, same code, iconic behavior. 💅

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🎀 NAME 🎀

simple_tp — a single axis simple trajectory planner, exactly the same one LinuxCNC uses when you're jogging. no cap. 🦋

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🌟 SYNOPSIS 🌟

PNCconf uses this little cutie so you can test out acceleration and velocity values for an axis. that's the whole job. that's it. she's a test queen. 👑

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🔥 FUNCTIONS 🔥

• simple-tp.N.update — this one requires a floating-point thread, so don't come at her with anything less, she needs her float thread fr fr.

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💖 PINS 💖

every N is a thing, and each pin is doing her own little job. let's go:

• simple-tp.N.target-pos float in — the target position you're planning for. where we're going, bestie. 📍
• simple-tp.N.maxvel float in — maximum velocity. how fast we're willing to go, speed limit energy. 💨
• simple-tp.N.maxaccel float in — acceleration rate. how quickly she ramps up, no sudden jumps. 📈
• simple-tp.N.enable bit in — if this gets disabled, the planner sets velocity to zero immediately. like, instant. no goodbye, no warning, just zero. 💀
• simple-tp.N.current-pos float out — the position being commanded at this point in time. right here, right now. ⏰
• simple-tp.N.current-vel float out — the velocity being commanded at this moment in time. the speed in the now. 🏃♀️
• simple-tp.N.active bit out — if active is true, the planner is requesting movement. she wants to go, okay?? let her cook. 🔥

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👑 AUTHOR 👑

Chris S Morley — the legend herself. bow down. 🫶

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📜 LICENSE 📜

GPL — she's free and open, as she should be. ✨

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and that's the whole page bestie, you ate it up 💅🌸 stay planning, stay simple, stay iconic.

much love from the LinuxCNC Documentation crew, dated 2026-03-17 🎀💜