The line you said you changed is only used for a testing mode where the kinematics are run as a standalone program. (#ifdef MAIN)
When running as a part of emc2, kinematicsInverse sets fflags depending on the world coordinates. If you are at a world coordinate with negative z, it will assign *fflags=1, but for zero or positive z it will assign *fflags=0. Perhaps the modification you need to make is to prefer *fflags=1 when z is exactly zero, and/or make the home position be strictly negative in z. Jeff ------------------------------------------------------------------------------ Sell apps to millions through the Intel(R) Atom(Tm) Developer Program Be part of this innovative community and reach millions of netbook users worldwide. Take advantage of special opportunities to increase revenue and speed time-to-market. Join now, and jumpstart your future. http://p.sf.net/sfu/intel-atom-d2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
