On 3/13/2014 3:26 PM, Charles Steinkuehler wrote: > On 3/13/2014 3:19 PM, Chris Radek wrote:
>> The way it's supposed to work for inverse only: you home the joints; >> the joints are now in the position matching the world coordinates >> you specified in [TRAJ]HOME and you may switch into world mode; >> inverse kins start running on those world coordinates and you should >> get the joint positions you homed to, so you don't get a position >> jump. That's the bootstrap process. > > THANKS! That's a very helpful bit of knowledge. I don't currently > have anything in [TRAJ]HOME. I think the [TRAJ]HOME stuff is either broken or I'm not doing something right in my configs. If I use KINEMATICS_INVERSE_ONLY, I get immediate joint errors when switching to world coordinates. If I create a kinematicsForward() function that hard-codes the home positions from the [TRAJ]HOME section of the ini file and specify KINEMATICS_BOTH, then I can switch into world mode with the expected coordinates. Of course, as soon as I attempt to move I get following errors, but this time it's expected. So...are there any secrets to using inverse only kinematics other than the [TRAJ]HOME section? Am I maybe missing some config snippet somewhere to enable this behavior? Latest kinematics file: https://github.com/cdsteinkuehler/linuxcnc/blob/cramps-config/src/emc/kinematics/wallykins.c Config file: https://github.com/cdsteinkuehler/linuxcnc/blob/cramps-config/configs/ARM/BeagleBone/cstein/Wally.BeBoPr/Wally.ini#L122 -- Charles Steinkuehler [email protected]
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