2013/6/23 Bart Dring <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. > > 1. For this type of machine, what do we return for kinematicsType()? >
I would recommend using what you already have - KinematicsBoth. > 2. What do I want to do in kinematicsHome(). When is this function called > and how often? > I have been playing around with different kinematics modules, including writing kinematics for 5 axis welding robot from scratch and I have never used kinematicsHome() function, so I am sure that you can do without it. > 3. Why does the machine starting running immediately.? > I have no way to test your kinematics module at the moment, so cannot tell for sure. I have never seen pow() function being used, so I took a little look at git repository and I found that it is mentioned in rtapi_math.h, but there is also this line in amthtest.c 53<http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=src/tests/mathtest.c;hb=eb9ceb64aec2fe3a230037cfd4bb1bc89ab61b74#l53> extern double pow(double, double); not used in RT So I did a little rewrite of your code to get rid of pow() function: http://www.cutting.lv/fileadmin/user_upload/mykins.c Do you have a chance to test it? I agree with Andrew - if you take trivkins and rename it to mykins, you should rename it _everywhere_ in the code. I have often forgot that and then tried to figure out, why is it not working. I did not get immediate runaways though. > 4. Can everything be done in the mykin.c file or do I need to modify other > areas of the HAL. > It all should be done in this particular file. I do also agree with Charles that you should be careful with setting appropriate home position values to avoid any difficult position, like b=0 or b = c. It also seems that limiting "b" might be good idea - if both carriages are mounted on one rail, then machine definitely cannot reach max theoretical y value, when b = 0 as that would crash both carriages each into other. But I have no idea, how to write that. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
