Hallo, I am working on gmoccapy to make it able to handle also gantry kins. As you know there are more joints than axis on a gantry. I was surprised to see, that hal_glip.py and also hal_actions.py do return a not_all_homed signal, even if all joints are homed!
As far as I see, it is caused because both do check: if count == axis_count: but as on a gantry count will be 4 and axis_count will be 3, it will return False in case all joints are homed. I decided to change to: if count >= axis_count: and it works like expected, but.... What if a user doe have a XYYZ gantry and do home X and Y will be 3 joints with 3 axis, but only 2 axis homed? Do you see side affects, if I do change hal_glib.py line 207 and hal_actions.py line 88 to be if count >= axis_count: IMHO hal_actions.py should not even have the check himself, but better a connection to the signal from hal_glib.py. i.e. hal_actions does not have the connection to GStat "not all homed" so it will not react to changes, if the user does unhome one joint. Waiting for your comments, before I do destroy everything ;-) Regards Norbert ------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
