Is there a way to switch between kinematics modules using G code in 
Machinekit? The desired effect is to be able to switch between trivkins and 
a 5 axis inverse kinematics module that allows for TCPC (Haas uses G234 to 
enable TCPC, see I've 
implemented the 5 axis kinematics module for my machine. I was thinking I 
could incorporate the trivial kinematics into the same module and add a hal 
pin that would switch between the two. Then I could write a python script 
that flips the hal pin, and bind that to a custom G code. Would that work? 
Is there another way to do it?

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