On 3/13/2014 6:52 PM, Charles Steinkuehler wrote: > On 3/13/2014 6:38 PM, andy pugh wrote:
> ...hmm...I could stash the last commanded position in a global variable > inside my kinematics module... > > /me: wanders off to create even uglier C code... OK, I've got it WORKING (well, sort of). I side-stepped the whole home position issue by modifying the world coordinate space so joints == world == all zero when homed. And things still didn't work. Digging around, I was getting some NaN values from the kinematics, which was wrecking havoc on the down-stream motor drivers. I forced the NaNs at the home position to be zero, and I've got coordinated movement using KINEMATICS_INVERSE_ONLY. There's a lot of cleanup and polish to do, but I'm making progress again. Thanks to everyone for the suggestions and help! -- Charles Steinkuehler [email protected]
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