On Sunday 26 February 2017 12:13:15 Dewey Garrett wrote: > > Also, the manpage for motion needs updated to reflect > > that "axis letter of axis" is now "joint.#. of" with a > > slight change in syntax to numerical. Hooking up to the > > jog-inputs caught me out for a bit. > > In the master branch, as updated for joints_axes, there > are hal pins for wheel jogging in jointmode and > _different_ hal pins for jogging axes (coordinate > letters) in world (teleop) mode. > > The motion man page identifies the hal pins correctly: > > joint.N.jog-counts IN S32 > joint.N.jog-enable IN BIT > joint.N.jog-scale IN FLOAT > joint.N.jog-vel-mode IN BIT > > axis.L.jog-counts IN S32 > axis.L.jog-enable IN BIT > axis.L.jog-scale IN FLOAT > axis.L.jog-vel-mode IN BIT > > N specifies numerical joint jumbers. > L specifies axis coordinate letters. > This depends on the architecture, Dewey.
Read on. > Support for wheel jogging in joint and world modes is > specifically described in the documentation chapter for > 'Updating LinuxCNC': > > http://linuxcnc.org/docs/devel/html/getting-started/updating-linuxcnc. >html#_hal_changes_updates_for_joints_axes > > In general, joints are not the same as axes although > the distinctions may be hidden from the user by the > graphical user interface (the axis gui for instance) > when using IDENTITY kinematics (trivkins for instance). > > Coordinates are 'homed' by moving joints in jointmode > in accordance with home switch closures and the homing > procedures as specified with inifile settings for each > joint (settings like [JOINT_N]HOME_* = value). > > Upon successful homing of all joints, a gui (axis for > instance), will typically change from joint to world > mode operation. This automatic transition may not > be apparent to a user when identity kinematics are > used. > > Once homed, returning to joint mode is seldom needed so > in many configurations, wheel jogging is only wanted > for world mode operations and the hal pins for joint > jogging are not used. In the x86 version of man 9 motion, those are all there I believe. Yes. In my sim version on this base machine, only axis is listed, joint stuff hasn't jumped over the fence into the simulators, yet. In the arm version, the whole section on axis[X|Y|Z] etc has been expunged, and replaced with joint#'s and the axis stuffs are not even visible to a halmeter, or to halshow. So if I'm looking at the manpage from an x86 machine, and trying to write hal code for the R-Pi, its confusing, so I now have 2 ssh sessions running into the pi so that I am at least on the same page, I hope. That faint knocking sound? Yup. :) All machines are updated to Master several times a week here. However, its been around 2 weeks now since the arm/jessie LCNC has actually been updated. In fact I was about to ask if the buildbot was bailing out on the armhf stuff. But armhf for jessie seems to have been thrown under the bus in recent times, with only one small library having been updated in the same time frame from debiam-arm. Thanks Dewey. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
