URGENT PLEA FOR HELP! I'm working on a complex kinematics module that doesn't currently have forward kins (only reverse). I am currently having a very hard time getting the kinematics module to do much of anything, and would really appreciate some help. This is for a demo I want to do on Saturday at the Midwest RepRap Festival, where I hope to drive a non-trivial kinematics machine via LinuxCNC and the BeagleBone:
http://midwestreprapfest.org/wordpress/ Currently, I can bring up LinuxCNC in joint mode and jog around, but when I have the joints at their home positions and try to switch to world mode, I immediately get joint following errors on the "x" and "y" joints. I do have a kinematicsHome() function defined and exported, but it doesn't seem like it's ever getting called, and my Y position (which is non-zero at the joint home position) never shows anything other than 0. I dug around in the source tree, but I don't see where/how the kinematicsHome() function gets called. Is this still supported? The kinematics code is on github, and can be built with "comp" if you just grab the wallykins.c file: https://github.com/cdsteinkuehler/linuxcnc/blob/cramps-config/src/emc/kinematics/wallykins.c ...I know it's not pretty, and it needs a bunch of constants turned into HAL parameters, but it's still very much work-in-progress. As a reminder, this is the machine I'm trying to control, the video was created using trivkins and a python gcode pre-processing script to convert world coordinates into machine coordinates, which is how you have to drive this type of machine if you only have an 8-bit AVR based machine controller: http://youtu.be/8DEyW6nI_nE ...I want to demonstrate how LinuxCNC can handle something impossible to do with the current "conventional" 3D printer control electronics. Any help would be GREATLY appreciated!! -- Charles Steinkuehler [email protected]
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