I have been searching for a while for how to implement tripodkins. Got that sorted, but it's made for struts and not cables. So I actually need inverted tripodkins.
Real word the non-inverted tripodkins translates to the opposite compensation occurring. A Z axis coordinated move in the center towards the bed causes the steppers go slower as they are further from the bed. For the same vertical rate, I believe the opposite should be happening. Best I saw online, anywhere for reference was this: https://psha.org.ru/irc/%23emc/2006-07-09.html I implemented that and it works, but of course it ends up not inverted. https://github.com/Arcus-3d/Arcus-3D-C1-BeBoPr/commit/c70258aeaa05a42f8b93c55bf4b650db19091e4c I see a flag in the code for being inverted, which* looks like it's triggered by negative Z* from the other kins. <https://groups.google.com/forum/goog_563650889> https://github.com/machinekit/machinekit/blob/314246595127ddc2dc08bb0f8a9e8606260e1679/src/emc/kinematics/tripodkins.c#L167 So I've tried changing the signs of various things for a solid day in my ini in an attempt to get it inverted, but haven't had any luck yet. Some result in joint following errors, some result in negative axis values, but none seem to invert the kinematics. Short of re-compiling to manually flip it in the source, some guidance would be appreciated. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
