On 31 March 2018 at 16:52, Chris Albertson <albertson.ch...@gmail.com> wrote:
> The trouble with Mesa in this case is that I'd have to write a whole bunch > of FPGA code to make it into what they call a "joint trajectory action > server" > > I thought about using G-code for the robots but they need to do things like > notice you have set a beer can on the table then plan motion around the can. > This has to happen in real time, you can't code the motion in advance Motion commands do not have to come from G-code. You can send canonical motion commands independently from motion, or you can simply set the step-generator input pin to the required position (in engineering units) The Mesa step-generators have built-in acceleration and velocity limits. halcmd setp hm2_5i25.0.stepgen.00.position 123.456 But you don't even need to use LinuxCNC at all, you can just write the required positions directly to PCI registers or transfer them down an ethernet cable. And then there is Mesa's own motion controller. http://store.mesanet.com/index.php?route=product/product&path=65&product_id=163 Free with any FPGA card (according to that page) This was just posted to the forums, might be relevant: https://forum.linuxcnc.org/49-basic-configuration/34295-rdl2-arduino-command-line-stepper-testing-utility#108162 -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ 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
