On 3/13/2014 2:43 PM, Viesturs Lācis wrote: > 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.
I'm trying to, but I keep getting following errors. Note that I do not have math for the forward kinematics, but I know the machine state for both joint and world coordinates when at the home position. That's why I'm trying to use kinematicsHome(). > 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. Photo: http://reprap.org/wiki/Wally This is my actual machine, moving using trivial kins: http://youtu.be/8DEyW6nI_nE > 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. When the joints are homed, the Y world coordinate is not zero, and I don't see how to tell LinuxCNC what the home value is supposed to be without using forward kinematics (which I don't have) or the kinematicsHome() function, which is apparently not used. -- Charles Steinkuehler [email protected]
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