2014-03-13 20:40 GMT+02:00 Charles Steinkuehler <[email protected]>:
> 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 > Umm, lots of variables and structures that I do not completely understand, but I do not see, where pos->tran.x, pos->tran.y and pos->tran.z are introduced to be used in inverse kins. Did I miss something or is it really not there? You have "return KINEMATICS_INVERSE_ONLY;" and have changed kinematicsForward to kinematicsHome. Since I have never used kinematicsHome, I would suggest skipping the whole section of forward kinematics. Could you please share some picture or sketch as that might help to understand the machine. Because my personal impression is that inverse kins seem overcomplicated. 2014-03-13 21:01 GMT+02:00 Charles Steinkuehler <[email protected]>: > How am I supposed to setup the machine state for > switching from joint to world mode since I don't have forward > kinematics?! > What machine state do you mean? IMHO the only requirement is that joints have to be homed. Viesturs ------------------------------------------------------------------------------ Learn Graph Databases - Download FREE O'Reilly Book "Graph Databases" is the definitive new guide to graph databases and their applications. Written by three acclaimed leaders in the field, this first edition is now available. Download your free book today! http://p.sf.net/sfu/13534_NeoTech _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
