Hi Thanks i have now undo some change for ishomed and i have see work fine.
The commented parts i uncommented now, but it's same for function i try to
add, i have moved one parts of your code to a case 4 but i'm not sure if i
need to break or not at the end.
The most problem for now is to found a way for debuging, i ho have GUI so i
use only SSHand this one never displayed this type of message try DEBUG= 1
to 10 without success
rtapi_print_msg(RTAPI_MSG_ERR,"Error state in toolchanger -
now disabled - unload toolchanger5\n");
i think i understand bad how to work position_cmd position_req position_acum
Best regards
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toolchanger.comp
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