2013/6/23 Bart Dring
<bdr...@buildlog.net<https://mail.google.com/mail/u/0/?view=cm&fs=1&tf=1&to=bdr...@buildlog.net>
>
> There is a link to our kinemantics file at the link above. (We just
> modified trivkins.c). At this point I think it has been hacked beyond our
> initial successes, to completely broken.
>
Hi,
First of all you should use you kinematics name "mykins" instead of
"trivkins" here
comp_id = hal_init("trivkins");
Then you use "loadrt mykins" in hal.
And I would use for kinematicsHome
return kinematicsForward(joint, world, fflags, iflags);
Also as Charles says you should either define different coordinate origin
or specify different home positions in INI file.
For example
[AXIS_0]
HOME = 10.0
[AXIS_1]
HOME = 20.0
Andrew
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