On 3/14/2014 11:12 AM, Chris Radek wrote: > On Thu, Mar 13, 2014 at 06:52:28PM -0500, Charles Steinkuehler wrote: >> >> Testing so far shows that the HOME values from the [TRAJ] section >> just aren't getting used somehow. > > It would be great to know whether this is fixed in JA4. (Fixing > kins-related problems in any other branches is probably a waste of > time...)
I think my root problem was some NaN values from the inverse kins, but I was still having issues with home position. I morphed everything to use all zeros for all home positions, and that got me farther, but LinuxCNC was still getting all kinds of confused and apparently switching from world to joint mode and back again without me commanding this. I just bit the bullet and wrote an iterative forward kins routine, but I haven't had a chance to try and plug it in yet. Gotta pack for traveling, so it will be a hotel-room kind of fix if I get it working. -- Charles Steinkuehler [email protected]
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