On 22 June 2010 17:58, Andy Pugh <[email protected]> wrote:
> And for completeness, the kinematics code
> http://pastebin.ca/1888609
I tried checking that the kinematics function wasn't actually being
called in Joint mode by putting
*(haldata->dy) = *(haldata->dy) + 1;
Inside the kinematicsForward and kinematicsReverse (actually the dx
version in forward).
As expected they sit at zero until I try to go to World mode.
At that point, very unexpectedly, dy goes to 0.7853982 and stays there.
Ergo I blame my HAL pin declarations for the problem.
So, I commented out the haldata struct, the hal_malloc, the
pin-creation code and recompiled. It is just the same.
--
atp
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